Diff of the two buildlogs:

--
--- b1/build.log	2025-09-20 18:36:11.093127968 +0000
+++ b2/build.log	2025-09-20 18:47:38.978031323 +0000
@@ -1,6 +1,6 @@
 I: pbuilder: network access will be disabled during build
-I: Current time: Fri Oct 23 12:44:49 -12 2026
-I: pbuilder-time-stamp: 1792802689
+I: Current time: Sun Sep 21 08:36:46 +14 2025
+I: pbuilder-time-stamp: 1758393406
 I: Building the build Environment
 I: extracting base tarball [/var/cache/pbuilder/forky-reproducible-base.tgz]
 I: copying local configuration
@@ -27,53 +27,85 @@
 dpkg-source: info: applying Improve-print-in-case-of-failing-test.patch
 I: Not using root during the build.
 I: Installing the build-deps
-I: user script /srv/workspace/pbuilder/1162225/tmp/hooks/D02_print_environment starting
+I: user script /srv/workspace/pbuilder/2829829/tmp/hooks/D01_modify_environment starting
+debug: Running on codethink04-arm64.
+I: Changing host+domainname to test build reproducibility
+I: Adding a custom variable just for the fun of it...
+I: Changing /bin/sh to bash
+'/bin/sh' -> '/bin/bash'
+lrwxrwxrwx 1 root root 9 Sep 20 18:36 /bin/sh -> /bin/bash
+I: Setting pbuilder2's login shell to /bin/bash
+I: Setting pbuilder2's GECOS to second user,second room,second work-phone,second home-phone,second other
+I: user script /srv/workspace/pbuilder/2829829/tmp/hooks/D01_modify_environment finished
+I: user script /srv/workspace/pbuilder/2829829/tmp/hooks/D02_print_environment starting
 I: set
-  BUILDDIR='/build/reproducible-path'
-  BUILDUSERGECOS='first user,first room,first work-phone,first home-phone,first other'
-  BUILDUSERNAME='pbuilder1'
-  BUILD_ARCH='arm64'
-  DEBIAN_FRONTEND='noninteractive'
+  BASH=/bin/sh
+  BASHOPTS=checkwinsize:cmdhist:complete_fullquote:extquote:force_fignore:globasciiranges:globskipdots:hostcomplete:interactive_comments:patsub_replacement:progcomp:promptvars:sourcepath
+  BASH_ALIASES=()
+  BASH_ARGC=()
+  BASH_ARGV=()
+  BASH_CMDS=()
+  BASH_LINENO=([0]="12" [1]="0")
+  BASH_LOADABLES_PATH=/usr/local/lib/bash:/usr/lib/bash:/opt/local/lib/bash:/usr/pkg/lib/bash:/opt/pkg/lib/bash:.
+  BASH_SOURCE=([0]="/tmp/hooks/D02_print_environment" [1]="/tmp/hooks/D02_print_environment")
+  BASH_VERSINFO=([0]="5" [1]="3" [2]="3" [3]="1" [4]="release" [5]="aarch64-unknown-linux-gnu")
+  BASH_VERSION='5.3.3(1)-release'
+  BUILDDIR=/build/reproducible-path
+  BUILDUSERGECOS='second user,second room,second work-phone,second home-phone,second other'
+  BUILDUSERNAME=pbuilder2
+  BUILD_ARCH=arm64
+  DEBIAN_FRONTEND=noninteractive
   DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=12 '
-  DISTRIBUTION='forky'
-  HOME='/root'
-  HOST_ARCH='arm64'
+  DIRSTACK=()
+  DISTRIBUTION=forky
+  EUID=0
+  FUNCNAME=([0]="Echo" [1]="main")
+  GROUPS=()
+  HOME=/root
+  HOSTNAME=i-capture-the-hostname
+  HOSTTYPE=aarch64
+  HOST_ARCH=arm64
   IFS=' 	
   '
-  INVOCATION_ID='64505396d272418fa6a3ee9dddd22959'
-  LANG='C'
-  LANGUAGE='en_US:en'
-  LC_ALL='C'
-  MAIL='/var/mail/root'
-  OPTIND='1'
-  PATH='/usr/sbin:/usr/bin:/sbin:/bin:/usr/games'
-  PBCURRENTCOMMANDLINEOPERATION='build'
-  PBUILDER_OPERATION='build'
-  PBUILDER_PKGDATADIR='/usr/share/pbuilder'
-  PBUILDER_PKGLIBDIR='/usr/lib/pbuilder'
-  PBUILDER_SYSCONFDIR='/etc'
-  PPID='1162225'
-  PS1='# '
-  PS2='> '
+  INVOCATION_ID=b08341d6fec443daa8e928bd25de749b
+  LANG=C
+  LANGUAGE=nl_BE:nl
+  LC_ALL=C
+  MACHTYPE=aarch64-unknown-linux-gnu
+  MAIL=/var/mail/root
+  OPTERR=1
+  OPTIND=1
+  OSTYPE=linux-gnu
+  PATH=/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path
+  PBCURRENTCOMMANDLINEOPERATION=build
+  PBUILDER_OPERATION=build
+  PBUILDER_PKGDATADIR=/usr/share/pbuilder
+  PBUILDER_PKGLIBDIR=/usr/lib/pbuilder
+  PBUILDER_SYSCONFDIR=/etc
+  PIPESTATUS=([0]="0")
+  POSIXLY_CORRECT=y
+  PPID=2829829
   PS4='+ '
-  PWD='/'
-  SHELL='/bin/bash'
-  SHLVL='2'
-  SUDO_COMMAND='/usr/bin/timeout -k 18.1h 18h /usr/bin/ionice -c 3 /usr/bin/nice /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.ColYDDyc/pbuilderrc_YsTl --distribution forky --hookdir /etc/pbuilder/first-build-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/forky-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.ColYDDyc/b1 --logfile b1/build.log g2o_0~20230806-4.1.dsc'
-  SUDO_GID='109'
-  SUDO_HOME='/var/lib/jenkins'
-  SUDO_UID='104'
-  SUDO_USER='jenkins'
-  TERM='unknown'
-  TZ='/usr/share/zoneinfo/Etc/GMT+12'
-  USER='root'
-  _='/usr/bin/systemd-run'
-  http_proxy='http://192.168.101.4:3128'
+  PWD=/
+  SHELL=/bin/bash
+  SHELLOPTS=braceexpand:errexit:hashall:interactive-comments:posix
+  SHLVL=3
+  SUDO_COMMAND='/usr/bin/timeout -k 24.1h 24h /usr/bin/ionice -c 3 /usr/bin/nice -n 11 /usr/bin/unshare --uts -- /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.ColYDDyc/pbuilderrc_vdpF --distribution forky --hookdir /etc/pbuilder/rebuild-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/forky-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.ColYDDyc/b2 --logfile b2/build.log g2o_0~20230806-4.1.dsc'
+  SUDO_GID=109
+  SUDO_HOME=/var/lib/jenkins
+  SUDO_UID=104
+  SUDO_USER=jenkins
+  TERM=unknown
+  TZ=/usr/share/zoneinfo/Etc/GMT-14
+  UID=0
+  USER=root
+  _='I: set'
+  http_proxy=http://192.168.101.4:3128
 I: uname -a
-  Linux codethink03-arm64 6.12.43+deb13-cloud-arm64 #1 SMP Debian 6.12.43-1 (2025-08-27) aarch64 GNU/Linux
+  Linux i-capture-the-hostname 6.12.43+deb13-cloud-arm64 #1 SMP Debian 6.12.43-1 (2025-08-27) aarch64 GNU/Linux
 I: ls -l /bin
-  lrwxrwxrwx 1 root root 7 Aug 10  2025 /bin -> usr/bin
-I: user script /srv/workspace/pbuilder/1162225/tmp/hooks/D02_print_environment finished
+  lrwxrwxrwx 1 root root 7 Aug 10 12:30 /bin -> usr/bin
+I: user script /srv/workspace/pbuilder/2829829/tmp/hooks/D02_print_environment finished
  -> Attempting to satisfy build-dependencies
  -> Creating pbuilder-satisfydepends-dummy package
 Package: pbuilder-satisfydepends-dummy
@@ -436,7 +468,7 @@
 Get: 289 http://deb.debian.org/debian forky/main arm64 texlive-pictures all 2025.20250727-3 [22.1 MB]
 Get: 290 http://deb.debian.org/debian forky/main arm64 texlive-latex-extra all 2025.20250727-3 [27.4 MB]
 Get: 291 http://deb.debian.org/debian forky/main arm64 texlive-science all 2025.20250727-3 [3997 kB]
-Fetched 359 MB in 3s (134 MB/s)
+Fetched 359 MB in 1s (279 MB/s)
 Preconfiguring packages ...
 Selecting previously unselected package readline-common.
 (Reading database ... 
(Reading database ... 5%
(Reading database ... 10%
(Reading database ... 15%
(Reading database ... 20%
(Reading database ... 25%
(Reading database ... 30%
(Reading database ... 35%
(Reading database ... 40%
(Reading database ... 45%
(Reading database ... 50%
(Reading database ... 55%
(Reading database ... 60%
(Reading database ... 65%
(Reading database ... 70%
(Reading database ... 75%
(Reading database ... 80%
(Reading database ... 85%
(Reading database ... 90%
(Reading database ... 95%
(Reading database ... 100%
(Reading database ... 20020 files and directories currently installed.)
@@ -1387,8 +1419,8 @@
 Setting up tzdata (2025b-5) ...
 
 Current default time zone: 'Etc/UTC'
-Local time is now:      Sat Oct 24 00:45:58 UTC 2026.
-Universal Time is now:  Sat Oct 24 00:45:58 UTC 2026.
+Local time is now:      Sat Sep 20 18:37:32 UTC 2025.
+Universal Time is now:  Sat Sep 20 18:37:32 UTC 2025.
 Run 'dpkg-reconfigure tzdata' if you wish to change it.
 
 Setting up libxcb-present0:arm64 (1.17.0-2+b1) ...
@@ -1654,7 +1686,11 @@
 Building tag database...
  -> Finished parsing the build-deps
 I: Building the package
-I: Running cd /build/reproducible-path/g2o-0~20230806/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-genchanges -S  > ../g2o_0~20230806-4.1_source.changes
+I: user script /srv/workspace/pbuilder/2829829/tmp/hooks/A99_set_merged_usr starting
+Not re-configuring usrmerge for forky
+I: user script /srv/workspace/pbuilder/2829829/tmp/hooks/A99_set_merged_usr finished
+hostname: Name or service not known
+I: Running cd /build/reproducible-path/g2o-0~20230806/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-genchanges -S  > ../g2o_0~20230806-4.1_source.changes
 dpkg-buildpackage: info: source package g2o
 dpkg-buildpackage: info: source version 0~20230806-4.1
 dpkg-buildpackage: info: source distribution unstable
@@ -1764,8 +1800,8 @@
   unit_test/CMakeLists.txt:9 (FetchContent_MakeAvailable)
 
 
--- Configuring done (2.9s)
--- Generating done (0.2s)
+-- Configuring done (2.8s)
+-- Generating done (0.1s)
 CMake Warning:
   Manually-specified variables were not used by the project:
 
@@ -1793,52 +1829,54 @@
 make[3]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/stuff/CMakeFiles/stuff.dir/build.make g2o/stuff/CMakeFiles/stuff.dir/depend
 make  -f g2o/stuff/CMakeFiles/opengl_helper.dir/build.make g2o/stuff/CMakeFiles/opengl_helper.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/build.make g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/depend
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff/CMakeFiles/stuff.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff/CMakeFiles/opengl_helper.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/EXTERNAL/freeglut" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/EXTERNAL/freeglut" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff/CMakeFiles/stuff.dir/DependInfo.cmake" "--color="
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/stuff/CMakeFiles/stuff.dir/build.make g2o/stuff/CMakeFiles/stuff.dir/build
+make  -f g2o/stuff/CMakeFiles/opengl_helper.dir/build.make g2o/stuff/CMakeFiles/opengl_helper.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/build.make g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/build
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/stuff/CMakeFiles/opengl_helper.dir/build.make g2o/stuff/CMakeFiles/opengl_helper.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[  0%] Building CXX object g2o/stuff/CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dopengl_helper_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o -MF CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o.d -o CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/opengl_primitives.cpp"
+make  -f g2o/stuff/CMakeFiles/stuff.dir/build.make g2o/stuff/CMakeFiles/stuff.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[  0%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/timeutil.cpp.o
-[  1%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/command_args.cpp.o
 [  1%] Building CXX object g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_font.cpp.o
-[  1%] Building CXX object g2o/stuff/CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o
-[  1%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/sparse_helper.cpp.o
+[  1%] Building CXX object g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_stroke_roman.cpp.o
+[  1%] Building CXX object g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_stroke_mono_roman.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/EXTERNAL/freeglut" && /usr/bin/c++ -DUNIX -Dfreeglut_minimal_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_stroke_roman.cpp.o -MF CMakeFiles/freeglut_minimal.dir/freeglut_stroke_roman.cpp.o.d -o CMakeFiles/freeglut_minimal.dir/freeglut_stroke_roman.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/EXTERNAL/freeglut/freeglut_stroke_roman.cpp"
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/EXTERNAL/freeglut" && /usr/bin/c++ -DUNIX -Dfreeglut_minimal_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_font.cpp.o -MF CMakeFiles/freeglut_minimal.dir/freeglut_font.cpp.o.d -o CMakeFiles/freeglut_minimal.dir/freeglut_font.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/EXTERNAL/freeglut/freeglut_font.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/EXTERNAL/freeglut" && /usr/bin/c++ -DUNIX -Dfreeglut_minimal_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_stroke_mono_roman.cpp.o -MF CMakeFiles/freeglut_minimal.dir/freeglut_stroke_mono_roman.cpp.o.d -o CMakeFiles/freeglut_minimal.dir/freeglut_stroke_mono_roman.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/EXTERNAL/freeglut/freeglut_stroke_mono_roman.cpp"
+[  2%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/command_args.cpp.o
+[  2%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/timeutil.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dstuff_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/stuff.dir/timeutil.cpp.o -MF CMakeFiles/stuff.dir/timeutil.cpp.o.d -o CMakeFiles/stuff.dir/timeutil.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/timeutil.cpp"
-[  2%] Building C object g2o/stuff/CMakeFiles/stuff.dir/os_specific.c.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dstuff_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/stuff.dir/command_args.cpp.o -MF CMakeFiles/stuff.dir/command_args.cpp.o.d -o CMakeFiles/stuff.dir/command_args.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/command_args.cpp"
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dopengl_helper_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o -MF CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o.d -o CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/opengl_primitives.cpp"
-[  3%] Building CXX object g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_stroke_mono_roman.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/EXTERNAL/freeglut" && /usr/bin/c++ -DUNIX -Dfreeglut_minimal_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_stroke_mono_roman.cpp.o -MF CMakeFiles/freeglut_minimal.dir/freeglut_stroke_mono_roman.cpp.o.d -o CMakeFiles/freeglut_minimal.dir/freeglut_stroke_mono_roman.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/EXTERNAL/freeglut/freeglut_stroke_mono_roman.cpp"
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dstuff_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/stuff.dir/sparse_helper.cpp.o -MF CMakeFiles/stuff.dir/sparse_helper.cpp.o.d -o CMakeFiles/stuff.dir/sparse_helper.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/sparse_helper.cpp"
+[  3%] Building C object g2o/stuff/CMakeFiles/stuff.dir/os_specific.c.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/cc -DUNIX -Dstuff_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/stuff.dir/os_specific.c.o -MF CMakeFiles/stuff.dir/os_specific.c.o.d -o CMakeFiles/stuff.dir/os_specific.c.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/os_specific.c"
-[  3%] Building CXX object g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_stroke_roman.cpp.o
-[  3%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/filesys_tools.cpp.o
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-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dstuff_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/stuff.dir/filesys_tools.cpp.o -MF CMakeFiles/stuff.dir/filesys_tools.cpp.o.d -o CMakeFiles/stuff.dir/filesys_tools.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/filesys_tools.cpp"
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-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dstuff_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/stuff.dir/sampler.cpp.o -MF CMakeFiles/stuff.dir/sampler.cpp.o.d -o CMakeFiles/stuff.dir/sampler.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/sampler.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dstuff_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/stuff.dir/sparse_helper.cpp.o -MF CMakeFiles/stuff.dir/sparse_helper.cpp.o.d -o CMakeFiles/stuff.dir/sparse_helper.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/sparse_helper.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dstuff_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/stuff.dir/string_tools.cpp.o -MF CMakeFiles/stuff.dir/string_tools.cpp.o.d -o CMakeFiles/stuff.dir/string_tools.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/string_tools.cpp"
+[  4%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/filesys_tools.cpp.o
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+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dstuff_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/stuff.dir/sampler.cpp.o -MF CMakeFiles/stuff.dir/sampler.cpp.o.d -o CMakeFiles/stuff.dir/sampler.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/sampler.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dstuff_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/stuff.dir/filesys_tools.cpp.o -MF CMakeFiles/stuff.dir/filesys_tools.cpp.o.d -o CMakeFiles/stuff.dir/filesys_tools.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/filesys_tools.cpp"
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 [  5%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/logger.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/c++ -DUNIX -Dstuff_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/stuff/CMakeFiles/stuff.dir/logger.cpp.o -MF CMakeFiles/stuff.dir/logger.cpp.o.d -o CMakeFiles/stuff.dir/logger.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/stuff/logger.cpp"
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 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/cmake -E cmake_link_script CMakeFiles/opengl_helper.dir/link.txt --verbose=1
+[  6%] Linking CXX shared library ../../../lib/libg2o_ext_freeglut_minimal.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/EXTERNAL/freeglut" && /usr/bin/cmake -E cmake_link_script CMakeFiles/freeglut_minimal.dir/link.txt --verbose=1
 /usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
@@ -1847,11 +1885,10 @@
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 /lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-[  6%] Linking CXX shared library ../../../lib/libg2o_ext_freeglut_minimal.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/EXTERNAL/freeglut" && /usr/bin/cmake -E cmake_link_script CMakeFiles/freeglut_minimal.dir/link.txt --verbose=1
 /usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/opengl_helper.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_opengl_helper.so.0.1 -o ../../lib/libg2o_opengl_helper.so.0.1.0 CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o  /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" && /usr/bin/cmake -E cmake_symlink_library ../../lib/libg2o_opengl_helper.so.0.1.0 ../../lib/libg2o_opengl_helper.so.0.1 ../../lib/libg2o_opengl_helper.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[  6%] Built target opengl_helper
 /usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
@@ -1860,7 +1897,6 @@
 /lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-[  6%] Built target opengl_helper
 /usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/freeglut_minimal.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_ext_freeglut_minimal.so.0.1 -o ../../../lib/libg2o_ext_freeglut_minimal.so.0.1.0 CMakeFiles/freeglut_minimal.dir/freeglut_font.cpp.o CMakeFiles/freeglut_minimal.dir/freeglut_stroke_mono_roman.cpp.o CMakeFiles/freeglut_minimal.dir/freeglut_stroke_roman.cpp.o  /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/EXTERNAL/freeglut" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_ext_freeglut_minimal.so.0.1.0 ../../../lib/libg2o_ext_freeglut_minimal.so.0.1 ../../../lib/libg2o_ext_freeglut_minimal.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
@@ -1878,50 +1914,52 @@
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-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/build.make g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff/CMakeFiles/unittest_stuff.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
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-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/stuff/CMakeFiles/unittest_stuff.dir/filesys_tools_tests.cpp.o -MF CMakeFiles/unittest_stuff.dir/filesys_tools_tests.cpp.o.d -o CMakeFiles/unittest_stuff.dir/filesys_tools_tests.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/stuff/filesys_tools_tests.cpp"
+[  7%] Building CXX object unit_test/stuff/CMakeFiles/unittest_stuff.dir/string_tools_tests.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/stuff/CMakeFiles/unittest_stuff.dir/string_tools_tests.cpp.o -MF CMakeFiles/unittest_stuff.dir/string_tools_tests.cpp.o.d -o CMakeFiles/unittest_stuff.dir/string_tools_tests.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/stuff/string_tools_tests.cpp"
+[  7%] Building CXX object unit_test/stuff/CMakeFiles/unittest_stuff.dir/command_args_tests.cpp.o
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+[  8%] Building CXX object unit_test/stuff/CMakeFiles/unittest_stuff.dir/misc_tests.cpp.o
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+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/hyper_graph.cpp.o -MF CMakeFiles/core.dir/hyper_graph.cpp.o.d -o CMakeFiles/core.dir/hyper_graph.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/hyper_graph.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/stuff/CMakeFiles/unittest_stuff.dir/filesys_tools_tests.cpp.o -MF CMakeFiles/unittest_stuff.dir/filesys_tools_tests.cpp.o.d -o CMakeFiles/unittest_stuff.dir/filesys_tools_tests.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/stuff/filesys_tools_tests.cpp"
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/stuff/CMakeFiles/unittest_stuff.dir/misc_tests.cpp.o -MF CMakeFiles/unittest_stuff.dir/misc_tests.cpp.o.d -o CMakeFiles/unittest_stuff.dir/misc_tests.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/stuff/misc_tests.cpp"
-[  8%] Building CXX object g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/csparse_extension.cpp.o
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-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" && /usr/bin/c++ -DUNIX -Dcsparse_extension_EXPORTS -I/usr/include/suitesparse -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/csparse_helper.cpp.o -MF CMakeFiles/csparse_extension.dir/csparse_helper.cpp.o.d -o CMakeFiles/csparse_extension.dir/csparse_helper.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse/csparse_helper.cpp"
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/stuff/CMakeFiles/unittest_stuff.dir/tuple_tools_tests.cpp.o -MF CMakeFiles/unittest_stuff.dir/tuple_tools_tests.cpp.o.d -o CMakeFiles/unittest_stuff.dir/tuple_tools_tests.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/stuff/tuple_tools_tests.cpp"
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/hyper_graph_action.cpp.o -MF CMakeFiles/core.dir/hyper_graph_action.cpp.o.d -o CMakeFiles/core.dir/hyper_graph_action.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/hyper_graph_action.cpp"
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/stuff/CMakeFiles/unittest_stuff.dir/property_tests.cpp.o -MF CMakeFiles/unittest_stuff.dir/property_tests.cpp.o.d -o CMakeFiles/unittest_stuff.dir/property_tests.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/stuff/property_tests.cpp"
-[  8%] Building CXX object g2o/core/CMakeFiles/core.dir/hyper_graph.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/hyper_graph_action.cpp.o -MF CMakeFiles/core.dir/hyper_graph_action.cpp.o.d -o CMakeFiles/core.dir/hyper_graph_action.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/hyper_graph_action.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/stuff/CMakeFiles/unittest_stuff.dir/tuple_tools_tests.cpp.o -MF CMakeFiles/unittest_stuff.dir/tuple_tools_tests.cpp.o.d -o CMakeFiles/unittest_stuff.dir/tuple_tools_tests.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/stuff/tuple_tools_tests.cpp"
+[  8%] Building CXX object g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/csparse_helper.cpp.o
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+[  8%] Building CXX object g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/csparse_extension.cpp.o
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-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/hyper_graph.cpp.o -MF CMakeFiles/core.dir/hyper_graph.cpp.o.d -o CMakeFiles/core.dir/hyper_graph.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/hyper_graph.cpp"
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/marginal_covariance_cholesky.cpp.o -MF CMakeFiles/core.dir/marginal_covariance_cholesky.cpp.o.d -o CMakeFiles/core.dir/marginal_covariance_cholesky.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/marginal_covariance_cholesky.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" && /usr/bin/c++ -DUNIX -Dcsparse_extension_EXPORTS -I/usr/include/suitesparse -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/csparse_extension.cpp.o -MF CMakeFiles/csparse_extension.dir/csparse_extension.cpp.o.d -o CMakeFiles/csparse_extension.dir/csparse_extension.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse/csparse_extension.cpp"
+[  9%] Building CXX object g2o/core/CMakeFiles/core.dir/matrix_structure.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/matrix_structure.cpp.o -MF CMakeFiles/core.dir/matrix_structure.cpp.o.d -o CMakeFiles/core.dir/matrix_structure.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/matrix_structure.cpp"
 [ 10%] Building CXX object g2o/core/CMakeFiles/core.dir/batch_stats.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/batch_stats.cpp.o -MF CMakeFiles/core.dir/batch_stats.cpp.o.d -o CMakeFiles/core.dir/batch_stats.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/batch_stats.cpp"
 [ 11%] Linking CXX shared library ../../../lib/libg2o_csparse_extension.so
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" && /usr/bin/cmake -E cmake_link_script CMakeFiles/csparse_extension.dir/link.txt --verbose=1
+[ 11%] Building CXX object g2o/core/CMakeFiles/core.dir/parameter.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/parameter.cpp.o -MF CMakeFiles/core.dir/parameter.cpp.o.d -o CMakeFiles/core.dir/parameter.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/parameter.cpp"
 /usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
@@ -1931,8 +1969,6 @@
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_csparse_extension.so.0.1.0 ../../../lib/libg2o_csparse_extension.so.0.1 ../../../lib/libg2o_csparse_extension.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 [ 11%] Built target csparse_extension
-[ 11%] Building CXX object g2o/core/CMakeFiles/core.dir/parameter.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/parameter.cpp.o -MF CMakeFiles/core.dir/parameter.cpp.o.d -o CMakeFiles/core.dir/parameter.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/parameter.cpp"
 [ 11%] Building CXX object g2o/core/CMakeFiles/core.dir/cache.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/cache.cpp.o -MF CMakeFiles/core.dir/cache.cpp.o.d -o CMakeFiles/core.dir/cache.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/cache.cpp"
 [ 12%] Building CXX object g2o/core/CMakeFiles/core.dir/optimizable_graph.cpp.o
@@ -1949,6 +1985,8 @@
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/sparse_optimizer.cpp.o -MF CMakeFiles/core.dir/sparse_optimizer.cpp.o.d -o CMakeFiles/core.dir/sparse_optimizer.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/sparse_optimizer.cpp"
 [ 14%] Building CXX object g2o/core/CMakeFiles/core.dir/hyper_dijkstra.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/hyper_dijkstra.cpp.o -MF CMakeFiles/core.dir/hyper_dijkstra.cpp.o.d -o CMakeFiles/core.dir/hyper_dijkstra.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/hyper_dijkstra.cpp"
+[ 15%] Building CXX object g2o/core/CMakeFiles/core.dir/parameter_container.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/parameter_container.cpp.o -MF CMakeFiles/core.dir/parameter_container.cpp.o.d -o CMakeFiles/core.dir/parameter_container.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/parameter_container.cpp"
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.cpp: In member function 'virtual bool g2o::OptimizableGraph::load(std::istream&)':
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.cpp:443:62: warning: suggest braces around empty body in an 'if' statement [-Wempty-body]
   443 |                   __PRETTY_FUNCTION__, token, id, lineNumber);
@@ -1960,29 +1998,27 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.cpp:828:77: warning: suggest braces around empty body in an 'if' statement [-Wempty-body]
   828 |           G2O_WARN("eigenvalues: {}", eigenSolver.eigenvalues().transpose());
       |                                                                             ^
-[ 15%] Building CXX object g2o/core/CMakeFiles/core.dir/parameter_container.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/parameter_container.cpp.o -MF CMakeFiles/core.dir/parameter_container.cpp.o.d -o CMakeFiles/core.dir/parameter_container.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/parameter_container.cpp"
 [ 15%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/optimization_algorithm.cpp.o -MF CMakeFiles/core.dir/optimization_algorithm.cpp.o.d -o CMakeFiles/core.dir/optimization_algorithm.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm.cpp"
 [ 16%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_with_hessian.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/optimization_algorithm_with_hessian.cpp.o -MF CMakeFiles/core.dir/optimization_algorithm_with_hessian.cpp.o.d -o CMakeFiles/core.dir/optimization_algorithm_with_hessian.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm_with_hessian.cpp"
 [ 16%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_gauss_newton.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/optimization_algorithm_gauss_newton.cpp.o -MF CMakeFiles/core.dir/optimization_algorithm_gauss_newton.cpp.o.d -o CMakeFiles/core.dir/optimization_algorithm_gauss_newton.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm_gauss_newton.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/optimization_algorithm_with_hessian.cpp.o -MF CMakeFiles/core.dir/optimization_algorithm_with_hessian.cpp.o.d -o CMakeFiles/core.dir/optimization_algorithm_with_hessian.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm_with_hessian.cpp"
 [ 17%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_levenberg.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/optimization_algorithm_levenberg.cpp.o -MF CMakeFiles/core.dir/optimization_algorithm_levenberg.cpp.o.d -o CMakeFiles/core.dir/optimization_algorithm_levenberg.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm_levenberg.cpp"
 [ 17%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_dogleg.cpp.o
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-[ 17%] Building CXX object g2o/core/CMakeFiles/core.dir/sparse_optimizer_terminate_action.cpp.o
+[ 18%] Linking CXX executable ../../bin/unittest_stuff
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_stuff.dir/link.txt --verbose=1
+[ 18%] Building CXX object g2o/core/CMakeFiles/core.dir/sparse_optimizer_terminate_action.cpp.o
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+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 18%] Built target unittest_stuff
+[ 19%] Building CXX object g2o/core/CMakeFiles/core.dir/jacobian_workspace.cpp.o
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-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_stuff.dir/link.d CMakeFiles/unittest_stuff.dir/command_args_tests.cpp.o CMakeFiles/unittest_stuff.dir/filesys_tools_tests.cpp.o CMakeFiles/unittest_stuff.dir/misc_tests.cpp.o CMakeFiles/unittest_stuff.dir/property_tests.cpp.o CMakeFiles/unittest_stuff.dir/string_tools_tests.cpp.o CMakeFiles/unittest_stuff.dir/tuple_tools_tests.cpp.o -o ../../bin/unittest_stuff  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_stuff.so.0.1.0 -lgtest -lgmock -lgtest_main -lrt
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 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" && /usr/bin/c++ -DUNIX -Dcore_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/core/CMakeFiles/core.dir/robust_kernel_impl.cpp.o -MF CMakeFiles/core.dir/robust_kernel_impl.cpp.o.d -o CMakeFiles/core.dir/robust_kernel_impl.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/core/robust_kernel_impl.cpp"
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@@ -2004,84 +2040,82 @@
 make  -f g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/build.make g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/depend
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-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/DependInfo.cmake" "--color="
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
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-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d/CMakeFiles/types_slam3d.dir/DependInfo.cmake" "--color="
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+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d/CMakeFiles/types_slam3d.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/DependInfo.cmake" "--color="
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-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/structure_only" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/structure_only" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
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+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/structure_only" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/structure_only" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
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+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_cli" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/DependInfo.cmake" "--color="
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+make  -f g2o/solvers/dense/CMakeFiles/solver_dense.dir/build.make g2o/solvers/dense/CMakeFiles/solver_dense.dir/build
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+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
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+make  -f g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/build.make g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/build
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+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 22%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2.cpp.o
+[ 22%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_calib.cpp.o
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+[ 22%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o
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+[ 23%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o
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+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/dense" && /usr/bin/c++ -DUNIX -Dsolver_dense_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/dense/CMakeFiles/solver_dense.dir/solver_dense.cpp.o -MF CMakeFiles/solver_dense.dir/solver_dense.cpp.o.d -o CMakeFiles/solver_dense.dir/solver_dense.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/dense/solver_dense.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o -MF CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o.d -o CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/pcg" && /usr/bin/c++ -DUNIX -Dsolver_pcg_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o -MF CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o.d -o CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg/solver_pcg.cpp"
+[ 24%] Building CXX object g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/cholmod_wrapper.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/cholmod" && /usr/bin/c++ -DUNIX -Dsolver_cholmod_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -isystem /usr/include/suitesparse -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/cholmod_wrapper.cpp.o -MF CMakeFiles/solver_cholmod.dir/cholmod_wrapper.cpp.o.d -o CMakeFiles/solver_cholmod.dir/cholmod_wrapper.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod/cholmod_wrapper.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o -MF CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o.d -o CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/vertex_point_xy.cpp"
+[ 24%] Building CXX object g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen" && /usr/bin/c++ -DUNIX -Dsolver_eigen_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o -MF CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o.d -o CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen/solver_eigen.cpp"
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/types/slam3d/CMakeFiles/types_slam3d.dir/build.make g2o/types/slam3d/CMakeFiles/types_slam3d.dir/build
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/build.make g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/build
-[ 21%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2.cpp.o
-make  -f g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/build.make g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 22%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.cpp"
-make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/build
-[ 22%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 23%] Building CXX object g2o/solvers/dense/CMakeFiles/solver_dense.dir/solver_dense.cpp.o
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 24%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_calib.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o -MF CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o.d -o CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.cpp"
+[ 24%] Building CXX object g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/structure_only.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/structure_only" && /usr/bin/c++ -DUNIX -Dsolver_structure_only_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/structure_only.cpp.o -MF CMakeFiles/solver_structure_only.dir/structure_only.cpp.o.d -o CMakeFiles/solver_structure_only.dir/structure_only.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/structure_only/structure_only.cpp"
 [ 25%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/dquat2mat.cpp.o
-[ 25%] Building CXX object g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o -MF CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o.d -o CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/vertex_point_xy.cpp"
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/dense" && /usr/bin/c++ -DUNIX -Dsolver_dense_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/dense/CMakeFiles/solver_dense.dir/solver_dense.cpp.o -MF CMakeFiles/solver_dense.dir/solver_dense.cpp.o.d -o CMakeFiles/solver_dense.dir/solver_dense.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/dense/solver_dense.cpp"
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/pcg" && /usr/bin/c++ -DUNIX -Dsolver_pcg_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o -MF CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o.d -o CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg/solver_pcg.cpp"
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_calib.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_pointxy_calib.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_pointxy_calib.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_calib.cpp"
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/dquat2mat.cpp.o -MF CMakeFiles/types_slam3d.dir/dquat2mat.cpp.o.d -o CMakeFiles/types_slam3d.dir/dquat2mat.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/dquat2mat.cpp"
-[ 25%] Building CXX object g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/structure_only.cpp.o
-[ 25%] Building CXX object g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/structure_only" && /usr/bin/c++ -DUNIX -Dsolver_structure_only_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/structure_only.cpp.o -MF CMakeFiles/solver_structure_only.dir/structure_only.cpp.o.d -o CMakeFiles/solver_structure_only.dir/structure_only.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/structure_only/structure_only.cpp"
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen" && /usr/bin/c++ -DUNIX -Dsolver_eigen_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o -MF CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o.d -o CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen/solver_eigen.cpp"
-[ 25%] Building CXX object g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/cholmod_wrapper.cpp.o
-[ 25%] Building CXX object g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/solver_csparse.cpp.o
 [ 26%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/dl_wrapper.cpp.o
+[ 26%] Building CXX object g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/solver_csparse.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" && /usr/bin/c++ -DUNIX -Dsolver_csparse_EXPORTS -I/usr/include/suitesparse -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/solver_csparse.cpp.o -MF CMakeFiles/solver_csparse.dir/solver_csparse.cpp.o.d -o CMakeFiles/solver_csparse.dir/solver_csparse.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse/solver_csparse.cpp"
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/cholmod" && /usr/bin/c++ -DUNIX -Dsolver_cholmod_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -isystem /usr/include/suitesparse -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/cholmod_wrapper.cpp.o -MF CMakeFiles/solver_cholmod.dir/cholmod_wrapper.cpp.o.d -o CMakeFiles/solver_cholmod.dir/cholmod_wrapper.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod/cholmod_wrapper.cpp"
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" && /usr/bin/c++ -DG2O_DEFAULT_SOLVERS_DIR_="\"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib\"" -DG2O_DEFAULT_TYPES_DIR_="\"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib\"" -DG2O_LIBRARY_POSTFIX=\"\" -DUNIX -Dg2o_cli_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/dl_wrapper.cpp.o -MF CMakeFiles/g2o_cli_library.dir/dl_wrapper.cpp.o.d -o CMakeFiles/g2o_cli_library.dir/dl_wrapper.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_cli/dl_wrapper.cpp"
 [ 26%] Building CXX object g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/solver_cholmod.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/cholmod" && /usr/bin/c++ -DUNIX -Dsolver_cholmod_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -isystem /usr/include/suitesparse -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/solver_cholmod.cpp.o -MF CMakeFiles/solver_cholmod.dir/solver_cholmod.cpp.o.d -o CMakeFiles/solver_cholmod.dir/solver_cholmod.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod/solver_cholmod.cpp"
 [ 26%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/output_helper.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" && /usr/bin/c++ -DG2O_DEFAULT_SOLVERS_DIR_="\"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib\"" -DG2O_DEFAULT_TYPES_DIR_="\"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib\"" -DG2O_LIBRARY_POSTFIX=\"\" -DUNIX -Dg2o_cli_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/output_helper.cpp.o -MF CMakeFiles/g2o_cli_library.dir/output_helper.cpp.o.d -o CMakeFiles/g2o_cli_library.dir/output_helper.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_cli/output_helper.cpp"
-[ 26%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o -MF CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o.d -o CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/isometry3d_mappings.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -2130,19 +2164,6 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
-   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
@@ -2158,6 +2179,19 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
+   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -2223,6 +2257,8 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+[ 26%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o -MF CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o.d -o CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/isometry3d_mappings.cpp"
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
@@ -2243,28 +2279,18 @@
 /lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/g2o_cli_library.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_cli.so.0.1 -o ../../../lib/libg2o_cli.so.0.1.0 CMakeFiles/g2o_cli_library.dir/dl_wrapper.cpp.o CMakeFiles/g2o_cli_library.dir/output_helper.cpp.o CMakeFiles/g2o_cli_library.dir/g2o_common.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 -ldl ../../../lib/libg2o_stuff.so.0.1.0 -lrt
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_cli.so.0.1.0 ../../../lib/libg2o_cli.so.0.1 ../../../lib/libg2o_cli.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 27%] Built target g2o_cli_library
 [ 28%] Building CXX object g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/csparse_wrapper.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" && /usr/bin/c++ -DUNIX -Dsolver_csparse_EXPORTS -I/usr/include/suitesparse -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/csparse_wrapper.cpp.o -MF CMakeFiles/solver_csparse.dir/csparse_wrapper.cpp.o.d -o CMakeFiles/solver_csparse.dir/csparse_wrapper.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse/csparse_wrapper.cpp"
-make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_cli" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/DependInfo.cmake" "--color="
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/g2o_cli_library.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_cli.so.0.1 -o ../../../lib/libg2o_cli.so.0.1.0 CMakeFiles/g2o_cli_library.dir/dl_wrapper.cpp.o CMakeFiles/g2o_cli_library.dir/output_helper.cpp.o CMakeFiles/g2o_cli_library.dir/g2o_common.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 -ldl ../../../lib/libg2o_stuff.so.0.1.0 -lrt
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_cli.so.0.1.0 ../../../lib/libg2o_cli.so.0.1 ../../../lib/libg2o_cli.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 29%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/g2o.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/g2o.cpp.o -MF CMakeFiles/g2o_cli_application.dir/g2o.cpp.o.d -o CMakeFiles/g2o_cli_application.dir/g2o.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_cli/g2o.cpp"
-[ 29%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy.cpp.o
+[ 28%] Built target g2o_cli_library
+[ 28%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_pointxy.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_pointxy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.cpp"
-[ 30%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/isometry3d_gradients.cpp.o
+[ 29%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/isometry3d_gradients.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/isometry3d_gradients.cpp.o -MF CMakeFiles/types_slam3d.dir/isometry3d_gradients.cpp.o.d -o CMakeFiles/types_slam3d.dir/isometry3d_gradients.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/isometry3d_gradients.cpp"
-[ 31%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/vertex_se2.cpp.o
+[ 30%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/vertex_se2.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/vertex_se2.cpp.o -MF CMakeFiles/types_slam2d.dir/vertex_se2.cpp.o.d -o CMakeFiles/types_slam2d.dir/vertex_se2.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/vertex_se2.cpp"
-[ 31%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -2294,8 +2320,14 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-[ 31%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_prior.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_prior.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_prior.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_prior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.cpp"
+make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_cli" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 31%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/g2o.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/g2o.cpp.o -MF CMakeFiles/g2o_cli_application.dir/g2o.cpp.o.d -o CMakeFiles/g2o_cli_application.dir/g2o.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_cli/g2o.cpp"
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /usr/include/eigen3/Eigen/Dense:6,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_vertex.h:32,
@@ -2308,7 +2340,13 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-[ 32%] Linking CXX shared library ../../../lib/libg2o_solver_structure_only.so
+[ 31%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o -MF CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o.d -o CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/vertex_se3.cpp"
+[ 31%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp"
+[ 32%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o -MF CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o.d -o CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/parameter_se3_offset.cpp"
+[ 33%] Linking CXX shared library ../../../lib/libg2o_solver_structure_only.so
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/structure_only" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_structure_only.dir/link.txt --verbose=1
 /usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
@@ -2318,11 +2356,9 @@
 /usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_structure_only.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_structure_only.so.0.1 -o ../../../lib/libg2o_solver_structure_only.so.0.1.0 CMakeFiles/solver_structure_only.dir/structure_only.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/structure_only" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_structure_only.so.0.1.0 ../../../lib/libg2o_solver_structure_only.so.0.1 ../../../lib/libg2o_solver_structure_only.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 32%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o
-[ 32%] Built target solver_structure_only
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o -MF CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o.d -o CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/vertex_se3.cpp"
-[ 33%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/parameter_se2_offset.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/parameter_se2_offset.cpp.o -MF CMakeFiles/types_slam2d.dir/parameter_se2_offset.cpp.o.d -o CMakeFiles/types_slam2d.dir/parameter_se2_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/parameter_se2_offset.cpp"
+[ 33%] Built target solver_structure_only
+[ 33%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_prior.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_prior.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_prior.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_prior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -2352,6 +2388,10 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
+[ 33%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.cpp"
+[ 33%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_offset.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:30,
@@ -2370,6 +2410,8 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+[ 33%] Linking CXX executable ../../../bin/g2o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" && /usr/bin/cmake -E cmake_link_script CMakeFiles/g2o_cli_application.dir/link.txt --verbose=1
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
@@ -2381,8 +2423,54 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-[ 33%] Linking CXX executable ../../../bin/g2o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" && /usr/bin/cmake -E cmake_link_script CMakeFiles/g2o_cli_application.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/g2o_cli_application.dir/link.d CMakeFiles/g2o_cli_application.dir/g2o.cpp.o -o ../../../bin/g2o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_cli.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt -ldl
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 33%] Built target g2o_cli_application
+[ 34%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o -MF CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o.d -o CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/vertex_pointxyz.cpp"
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_offset.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_offset.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+[ 34%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o -MF CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o.d -o CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/parameter_camera.cpp"
+[ 35%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/parameter_se2_offset.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/parameter_se2_offset.cpp.o -MF CMakeFiles/types_slam2d.dir/parameter_se2_offset.cpp.o.d -o CMakeFiles/types_slam2d.dir/parameter_se2_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/parameter_se2_offset.cpp"
+[ 35%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_offset.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_offset.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_offset.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_offset.cpp"
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
@@ -2397,21 +2485,6 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/g2o_cli_application.dir/link.d CMakeFiles/g2o_cli_application.dir/g2o.cpp.o -o ../../../bin/g2o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_cli.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt -ldl
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 33%] Built target g2o_cli_application
-[ 34%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o -MF CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o.d -o CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/parameter_se3_offset.cpp"
-[ 34%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_offset.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_offset.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_offset.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_offset.cpp"
-[ 35%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_offset.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_offset.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_pointxy_offset.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_pointxy_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_offset.cpp"
-[ 35%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_xyprior.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_xyprior.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_xyprior.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_xyprior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.cpp"
-[ 36%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_pointxy.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_pointxy.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_pointxy.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_pointxy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.cpp"
-[ 36%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_twopointsxy.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_twopointsxy.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_twopointsxy.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_twopointsxy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_twopointsxy.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -2441,6 +2514,14 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
+[ 36%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o -MF CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o.d -o CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/parameter_stereo_camera.cpp"
+[ 37%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_offset.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_offset.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_pointxy_offset.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_pointxy_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_offset.cpp"
+[ 37%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.cpp"
+[ 37%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_xyprior.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_xyprior.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_xyprior.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_xyprior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -2459,6 +2540,39 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+[ 38%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_pointxy.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_pointxy.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_pointxy.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_pointxy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.cpp"
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+[ 38%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_twopointsxy.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_twopointsxy.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_twopointsxy.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_twopointsxy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_twopointsxy.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:30,
@@ -2477,6 +2591,21 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+[ 38%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_depth.cpp"
+[ 39%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -2495,28 +2624,8 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
+[ 39%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.cpp"
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
@@ -2532,104 +2641,16 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-[ 36%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_lotsofxy.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_lotsofxy.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_lotsofxy.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_lotsofxy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_lotsofxy.cpp"
-[ 37%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_xy_prior.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_xy_prior.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_xy_prior.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_xy_prior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.cpp"
-[ 37%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
-   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_variable_sized_edge.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_lotsofxy.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_lotsofxy.cpp:27:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-[ 37%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_offset.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-[ 38%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o -MF CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o.d -o CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/vertex_pointxyz.cpp"
-[ 38%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o -MF CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o.d -o CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/parameter_camera.cpp"
-[ 39%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o -MF CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o.d -o CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/parameter_stereo_camera.cpp"
-[ 39%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_offset.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_offset.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-[ 40%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.cpp:27:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_depth.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_depth.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_depth.h:43:14:   required from here
    43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
@@ -2638,8 +2659,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 40%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_depth.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -2658,42 +2677,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 40%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.cpp"
-[ 40%] Linking CXX shared library ../../../lib/libg2o_types_slam2d.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_slam2d.dir/link.txt --verbose=1
-/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_depth.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_depth.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_depth.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_slam2d.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_slam2d.so.0.1 -o ../../../lib/libg2o_types_slam2d.so.0.1.0 CMakeFiles/types_slam2d.dir/edge_se2.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_pointxy_calib.cpp.o CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_pointxy.cpp.o CMakeFiles/types_slam2d.dir/vertex_se2.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_prior.cpp.o CMakeFiles/types_slam2d.dir/parameter_se2_offset.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_offset.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_pointxy_offset.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_xyprior.cpp.o CMakeFiles/types_slam2d.dir/edge_pointxy.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_twopointsxy.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_lotsofxy.cpp.o CMakeFiles/types_slam2d.dir/edge_xy_prior.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_types_slam2d.so.0.1 ../../../lib/libg2o_types_slam2d.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 40%] Built target types_slam2d
-[ 41%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_xyzprior.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_xyzprior.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_xyzprior.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_xyzprior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:30,
@@ -2712,10 +2695,10 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 41%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_lotsofxyz.cpp.o
+[ 40%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_xyzprior.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_xyzprior.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_xyzprior.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_xyzprior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.cpp"
+[ 40%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_lotsofxyz.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_lotsofxyz.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_se3_lotsofxyz.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_se3_lotsofxyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_lotsofxyz.cpp"
-[ 42%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_xyz_prior.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_xyz_prior.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_xyz_prior.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_xyz_prior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:30,
@@ -2734,6 +2717,25 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+[ 40%] Linking CXX shared library ../../../lib/libg2o_solver_csparse.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_csparse.dir/link.txt --verbose=1
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_csparse.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_csparse.so.0.1 -o ../../../lib/libg2o_solver_csparse.so.0.1.0 CMakeFiles/solver_csparse.dir/solver_csparse.cpp.o CMakeFiles/solver_csparse.dir/csparse_wrapper.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_csparse_extension.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 /usr/lib/aarch64-linux-gnu/libcxsparse.so ../../../lib/libg2o_stuff.so.0.1.0 -lrt
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_csparse.so.0.1.0 ../../../lib/libg2o_solver_csparse.so.0.1 ../../../lib/libg2o_solver_csparse.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 40%] Built target solver_csparse
+[ 41%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_xyz_prior.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_xyz_prior.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_xyz_prior.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_xyz_prior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.cpp"
+[ 41%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_lotsofxy.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_lotsofxy.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_se2_lotsofxy.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_se2_lotsofxy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_lotsofxy.cpp"
+[ 41%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.cpp"
+[ 41%] Linking CXX shared library ../../../lib/libg2o_solver_dense.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/dense" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_dense.dir/link.txt --verbose=1
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:30,
@@ -2752,7 +2754,12 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 43%] Linking CXX shared library ../../../lib/libg2o_solver_cholmod.so
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+[ 42%] Linking CXX shared library ../../../lib/libg2o_solver_cholmod.so
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/cholmod" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_cholmod.dir/link.txt --verbose=1
 /usr/lib/aarch64-linux-gnu/libopenblas.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /usr/lib/aarch64-linux-gnu/libmetis.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
@@ -2761,39 +2768,26 @@
 /lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_dense.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_dense.so.0.1 -o ../../../lib/libg2o_solver_dense.so.0.1.0 CMakeFiles/solver_dense.dir/solver_dense.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/dense" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_dense.so.0.1.0 ../../../lib/libg2o_solver_dense.so.0.1 ../../../lib/libg2o_solver_dense.so
 /usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_cholmod.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_cholmod.so.0.1 -o ../../../lib/libg2o_solver_cholmod.so.0.1.0 CMakeFiles/solver_cholmod.dir/cholmod_wrapper.cpp.o CMakeFiles/solver_cholmod.dir/solver_cholmod.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 /usr/lib/aarch64-linux-gnu/libcholmod.so ../../../lib/libg2o_stuff.so.0.1.0 /usr/lib/aarch64-linux-gnu/libamd.so /usr/lib/aarch64-linux-gnu/libcamd.so /usr/lib/aarch64-linux-gnu/libccolamd.so /usr/lib/aarch64-linux-gnu/libcolamd.so /usr/lib/aarch64-linux-gnu/libsuitesparseconfig.so -lrt /usr/lib/aarch64-linux-gnu/libopenblas.so -lm -ldl /usr/lib/aarch64-linux-gnu/libmetis.so
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/cholmod" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_cholmod.so.0.1.0 ../../../lib/libg2o_solver_cholmod.so.0.1 ../../../lib/libg2o_solver_cholmod.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 43%] Built target solver_cholmod
-make  -f g2o/types/data/CMakeFiles/types_data.dir/build.make g2o/types/data/CMakeFiles/types_data.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data/CMakeFiles/types_data.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/types/data/CMakeFiles/types_data.dir/build.make g2o/types/data/CMakeFiles/types_data.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 44%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/types_data.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/types_data.cpp.o -MF CMakeFiles/types_data.dir/types_data.cpp.o.d -o CMakeFiles/types_data.dir/types_data.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/types_data.cpp"
-[ 44%] Linking CXX shared library ../../../lib/libg2o_solver_csparse.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_csparse.dir/link.txt --verbose=1
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_csparse.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_csparse.so.0.1 -o ../../../lib/libg2o_solver_csparse.so.0.1.0 CMakeFiles/solver_csparse.dir/solver_csparse.cpp.o CMakeFiles/solver_csparse.dir/csparse_wrapper.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_csparse_extension.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 /usr/lib/aarch64-linux-gnu/libcxsparse.so ../../../lib/libg2o_stuff.so.0.1.0 -lrt
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_csparse.so.0.1.0 ../../../lib/libg2o_solver_csparse.so.0.1 ../../../lib/libg2o_solver_csparse.so
+[ 42%] Built target solver_dense
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 44%] Built target solver_csparse
-[ 44%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o -MF CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o.d -o CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.cpp"
-[ 44%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/robot_data.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/robot_data.cpp.o -MF CMakeFiles/types_data.dir/robot_data.cpp.o.d -o CMakeFiles/types_data.dir/robot_data.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_data.cpp"
+[ 43%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_xy_prior.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_xy_prior.cpp.o -MF CMakeFiles/types_slam2d.dir/edge_xy_prior.cpp.o.d -o CMakeFiles/types_slam2d.dir/edge_xy_prior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.cpp"
+[ 43%] Built target solver_cholmod
+[ 44%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o -MF CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o.d -o CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.cpp"
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_laser.h:32,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/types_data.cpp:31:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_variable_sized_edge.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_lotsofxy.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_lotsofxy.cpp:27:
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
 /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
    85 |     ret._R = _R.inverse();
@@ -2801,13 +2795,6 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-[ 44%] Linking CXX shared library ../../../lib/libg2o_solver_dense.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/dense" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_dense.dir/link.txt --verbose=1
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -2826,119 +2813,24 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 45%] Linking CXX shared library ../../../lib/libg2o_solver_eigen.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_eigen.dir/link.txt --verbose=1
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_dense.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_dense.so.0.1 -o ../../../lib/libg2o_solver_dense.so.0.1.0 CMakeFiles/solver_dense.dir/solver_dense.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/dense" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_dense.so.0.1.0 ../../../lib/libg2o_solver_dense.so.0.1 ../../../lib/libg2o_solver_dense.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 45%] Built target solver_dense
-make  -f g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build.make g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build.make g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 45%] Building CXX object g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/edge_se2_sensor_calib.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/c++ -DUNIX -Dtypes_sclam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/edge_se2_sensor_calib.cpp.o -MF CMakeFiles/types_sclam2d.dir/edge_se2_sensor_calib.cpp.o.d -o CMakeFiles/types_sclam2d.dir/edge_se2_sensor_calib.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.cpp"
-[ 46%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/vertex_tag.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/vertex_tag.cpp.o -MF CMakeFiles/types_data.dir/vertex_tag.cpp.o.d -o CMakeFiles/types_data.dir/vertex_tag.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/vertex_tag.cpp"
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_eigen.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_eigen.so.0.1 -o ../../../lib/libg2o_solver_eigen.so.0.1.0 CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_eigen.so.0.1.0 ../../../lib/libg2o_solver_eigen.so.0.1 ../../../lib/libg2o_solver_eigen.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 46%] Built target solver_eigen
-[ 46%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/vertex_ellipse.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/vertex_ellipse.cpp.o -MF CMakeFiles/types_data.dir/vertex_ellipse.cpp.o.d -o CMakeFiles/types_data.dir/vertex_ellipse.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/vertex_ellipse.cpp"
-[ 46%] Building CXX object g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/vertex_odom_differential_params.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/c++ -DUNIX -Dtypes_sclam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/vertex_odom_differential_params.cpp.o -MF CMakeFiles/types_sclam2d.dir/vertex_odom_differential_params.cpp.o.d -o CMakeFiles/types_sclam2d.dir/vertex_odom_differential_params.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/vertex_odom_differential_params.cpp"
-[ 47%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/laser_parameters.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/laser_parameters.cpp.o -MF CMakeFiles/types_data.dir/laser_parameters.cpp.o.d -o CMakeFiles/types_data.dir/laser_parameters.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.cpp"
-[ 47%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/raw_laser.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/raw_laser.cpp.o -MF CMakeFiles/types_data.dir/raw_laser.cpp.o.d -o CMakeFiles/types_data.dir/raw_laser.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.cpp"
-make  -f unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build.make unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build.make unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 47%] Building CXX object unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/mappings_se2.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/mappings_se2.cpp.o -MF CMakeFiles/unittest_slam2d.dir/mappings_se2.cpp.o.d -o CMakeFiles/unittest_slam2d.dir/mappings_se2.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d/mappings_se2.cpp"
-[ 48%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d/CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o -MF CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o.d -o CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.h:40:14:   required from here
-   40 |     : public BaseFixedSizedEdge<3, SE2, VertexSE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
+   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.cpp:27:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-[ 48%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/robot_laser.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/robot_laser.cpp.o -MF CMakeFiles/types_data.dir/robot_laser.cpp.o.d -o CMakeFiles/types_data.dir/robot_laser.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_laser.cpp"
-[ 49%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/data_queue.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/data_queue.cpp.o -MF CMakeFiles/types_data.dir/data_queue.cpp.o.d -o CMakeFiles/types_data.dir/data_queue.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/data_queue.cpp"
-make  -f g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/build.make g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/build.make g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.cpp:27:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-[ 50%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/types_slam2d_addons.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/types_slam2d_addons.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/types_slam2d_addons.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/types_slam2d_addons.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.cpp"
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam2d/mappings_se2.cpp:27:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -2957,15 +2849,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 51%] Building CXX object g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/edge_se2_odom_differential_calib.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/c++ -DUNIX -Dtypes_sclam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/edge_se2_odom_differential_calib.cpp.o -MF CMakeFiles/types_sclam2d.dir/edge_se2_odom_differential_calib.cpp.o.d -o CMakeFiles/types_sclam2d.dir/edge_se2_odom_differential_calib.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.cpp"
-[ 52%] Linking CXX shared library ../../../lib/libg2o_solver_pcg.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/pcg" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_pcg.dir/link.txt --verbose=1
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -2979,32 +2862,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<2, Vector2, VertexPointXY, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_pcg.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_pcg.so.0.1 -o ../../../lib/libg2o_solver_pcg.so.0.1.0 CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/pcg" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_pcg.so.0.1.0 ../../../lib/libg2o_solver_pcg.so.0.1 ../../../lib/libg2o_solver_pcg.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 52%] Built target solver_pcg
-[ 53%] Building CXX object unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/jacobians_slam2d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/jacobians_slam2d.cpp.o -MF CMakeFiles/unittest_slam2d.dir/jacobians_slam2d.cpp.o.d -o CMakeFiles/unittest_slam2d.dir/jacobians_slam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d/jacobians_slam2d.cpp"
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3057,16 +2914,162 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 53%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/vertex_segment2d.cpp.o
+[ 45%] Linking CXX shared library ../../../lib/libg2o_solver_eigen.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_eigen.dir/link.txt --verbose=1
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_eigen.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_eigen.so.0.1 -o ../../../lib/libg2o_solver_eigen.so.0.1.0 CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_eigen.so.0.1.0 ../../../lib/libg2o_solver_eigen.so.0.1 ../../../lib/libg2o_solver_eigen.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 45%] Built target solver_eigen
+[ 46%] Linking CXX shared library ../../../lib/libg2o_solver_pcg.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/pcg" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_pcg.dir/link.txt --verbose=1
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_pcg.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_pcg.so.0.1 -o ../../../lib/libg2o_solver_pcg.so.0.1.0 CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/pcg" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_pcg.so.0.1.0 ../../../lib/libg2o_solver_pcg.so.0.1 ../../../lib/libg2o_solver_pcg.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 46%] Built target solver_pcg
+[ 46%] Linking CXX shared library ../../../lib/libg2o_types_slam2d.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_slam2d.dir/link.txt --verbose=1
+/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_slam2d.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_slam2d.so.0.1 -o ../../../lib/libg2o_types_slam2d.so.0.1.0 CMakeFiles/types_slam2d.dir/edge_se2.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_pointxy_calib.cpp.o CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_pointxy.cpp.o CMakeFiles/types_slam2d.dir/vertex_se2.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_prior.cpp.o CMakeFiles/types_slam2d.dir/parameter_se2_offset.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_offset.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_pointxy_offset.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_xyprior.cpp.o CMakeFiles/types_slam2d.dir/edge_pointxy.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_twopointsxy.cpp.o CMakeFiles/types_slam2d.dir/edge_se2_lotsofxy.cpp.o CMakeFiles/types_slam2d.dir/edge_xy_prior.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_types_slam2d.so.0.1 ../../../lib/libg2o_types_slam2d.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 46%] Built target types_slam2d
+make  -f g2o/types/data/CMakeFiles/types_data.dir/build.make g2o/types/data/CMakeFiles/types_data.dir/depend
+make  -f g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build.make g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/depend
+make  -f unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build.make unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/depend
+make  -f g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/build.make g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/DependInfo.cmake" "--color="
+make  -f g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/build.make g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data/CMakeFiles/types_data.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/build.make g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/build
+make  -f g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/build.make g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 46%] Building CXX object g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/slam2d_linear.cpp.o
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear" && /usr/bin/c++ -DUNIX -Dsolver_slam2d_linear_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/slam2d_linear.cpp.o -MF CMakeFiles/solver_slam2d_linear.dir/slam2d_linear.cpp.o.d -o CMakeFiles/solver_slam2d_linear.dir/slam2d_linear.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/slam2d_linear.cpp"
+make  -f g2o/types/data/CMakeFiles/types_data.dir/build.make g2o/types/data/CMakeFiles/types_data.dir/build
+make  -f g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build.make g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build.make unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 47%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/vertex_segment2d.cpp.o
+[ 47%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d.cpp.o
+[ 47%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/types_slam2d_addons.cpp.o
+[ 48%] Building CXX object g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/solver_slam2d_linear.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear" && /usr/bin/c++ -DUNIX -Dsolver_slam2d_linear_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/solver_slam2d_linear.cpp.o -MF CMakeFiles/solver_slam2d_linear.dir/solver_slam2d_linear.cpp.o.d -o CMakeFiles/solver_slam2d_linear.dir/solver_slam2d_linear.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/solver_slam2d_linear.cpp"
+[ 49%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_line.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/types_slam2d_addons.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/types_slam2d_addons.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/types_slam2d_addons.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.cpp"
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/vertex_segment2d.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/vertex_segment2d.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/vertex_segment2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/vertex_segment2d.cpp"
-[ 53%] Building CXX object g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/odometry_measurement.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/c++ -DUNIX -Dtypes_sclam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/odometry_measurement.cpp.o -MF CMakeFiles/types_sclam2d.dir/odometry_measurement.cpp.o.d -o CMakeFiles/types_sclam2d.dir/odometry_measurement.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/odometry_measurement.cpp"
+[ 49%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_pointLine.cpp.o
+[ 49%] Building CXX object unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/mappings_se2.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/mappings_se2.cpp.o -MF CMakeFiles/unittest_slam2d.dir/mappings_se2.cpp.o.d -o CMakeFiles/unittest_slam2d.dir/mappings_se2.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d/mappings_se2.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_pointLine.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_pointLine.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_pointLine.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_line.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_line.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_line.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.cpp"
+[ 49%] Building CXX object g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/edge_se2_sensor_calib.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/c++ -DUNIX -Dtypes_sclam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/edge_se2_sensor_calib.cpp.o -MF CMakeFiles/types_sclam2d.dir/edge_se2_sensor_calib.cpp.o.d -o CMakeFiles/types_sclam2d.dir/edge_se2_sensor_calib.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.cpp"
+[ 50%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/types_data.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/types_data.cpp.o -MF CMakeFiles/types_data.dir/types_data.cpp.o.d -o CMakeFiles/types_data.dir/types_data.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/types_data.cpp"
+[ 50%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/robot_data.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/robot_data.cpp.o -MF CMakeFiles/types_data.dir/robot_data.cpp.o.d -o CMakeFiles/types_data.dir/robot_data.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_data.cpp"
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<2, Vector2, VertexPointXY, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.h:40:14:   required from here
+   40 |     : public BaseFixedSizedEdge<3, SE2, VertexSE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_laser.h:32,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_laser.cpp:27:
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam2d/mappings_se2.cpp:27:
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
 /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
    85 |     ret._R = _R.inverse();
@@ -3087,8 +3090,30 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 54%] Building CXX object g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/types_sclam2d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/c++ -DUNIX -Dtypes_sclam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/types_sclam2d.cpp.o -MF CMakeFiles/types_sclam2d.dir/types_sclam2d.cpp.o.d -o CMakeFiles/types_sclam2d.dir/types_sclam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/types_sclam2d.cpp"
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_laser.h:32,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/types_data.cpp:31:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3102,6 +3127,24 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/sparse_optimizer.h:33,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/solver_slam2d_linear.cpp:35:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
+   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/solver_slam2d_linear.cpp:39:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3115,6 +3158,26 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -3154,6 +3217,35 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/matrix_operations.h:32,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/sparse_block_matrix.h:42,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm.h:37,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm_with_hessian.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm_gauss_newton.h:33,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/solver_slam2d_linear.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/solver_slam2d_linear.cpp:27:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+[ 51%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/vertex_tag.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/vertex_tag.cpp.o -MF CMakeFiles/types_data.dir/vertex_tag.cpp.o.d -o CMakeFiles/types_data.dir/vertex_tag.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/vertex_tag.cpp"
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3194,25 +3286,9 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::VelocityMeasurement, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:39:14:   required from here
-   39 |     : public BaseFixedSizedEdge<3, VelocityMeasurement, VertexSE2, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                                 VertexOdomDifferentialParams> {
-      |                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::VelocityMeasurement; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3265,6 +3341,36 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
+[ 51%] Linking CXX shared library ../../../lib/libg2o_types_slam3d.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_slam3d.dir/link.txt --verbose=1
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+[ 52%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/vertex_line2d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/vertex_line2d.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/vertex_line2d.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/vertex_line2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/vertex_line2d.cpp"
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
@@ -3276,6 +3382,30 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
+[ 53%] Building CXX object unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/jacobians_slam2d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/jacobians_slam2d.cpp.o -MF CMakeFiles/unittest_slam2d.dir/jacobians_slam2d.cpp.o.d -o CMakeFiles/unittest_slam2d.dir/jacobians_slam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d/jacobians_slam2d.cpp"
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_slam3d.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_slam3d.so.0.1 -o ../../../lib/libg2o_types_slam3d.so.0.1.0 CMakeFiles/types_slam3d.dir/dquat2mat.cpp.o CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o CMakeFiles/types_slam3d.dir/isometry3d_gradients.cpp.o CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o CMakeFiles/types_slam3d.dir/edge_se3.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_xyzprior.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_lotsofxyz.cpp.o CMakeFiles/types_slam3d.dir/edge_xyz_prior.cpp.o CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_types_slam3d.so.0.1 ../../../lib/libg2o_types_slam3d.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 53%] Built target types_slam3d
+[ 53%] Building CXX object unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/io_slam2d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/io_slam2d.cpp.o -MF CMakeFiles/unittest_slam2d.dir/io_slam2d.cpp.o.d -o CMakeFiles/unittest_slam2d.dir/io_slam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d/io_slam2d.cpp"
+[ 53%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/vertex_ellipse.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/vertex_ellipse.cpp.o -MF CMakeFiles/types_data.dir/vertex_ellipse.cpp.o.d -o CMakeFiles/types_data.dir/vertex_ellipse.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/vertex_ellipse.cpp"
+[ 53%] Building CXX object g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/vertex_odom_differential_params.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/c++ -DUNIX -Dtypes_sclam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/vertex_odom_differential_params.cpp.o -MF CMakeFiles/types_sclam2d.dir/vertex_odom_differential_params.cpp.o.d -o CMakeFiles/types_sclam2d.dir/vertex_odom_differential_params.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/vertex_odom_differential_params.cpp"
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /usr/include/eigen3/Eigen/Dense:6,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_vertex.h:32,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/vertex_line2d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/vertex_line2d.cpp:27:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -3294,16 +3424,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-make  -f g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/build.make g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/build.make g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 54%] Building CXX object g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/slam2d_linear.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear" && /usr/bin/c++ -DUNIX -Dsolver_slam2d_linear_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/slam2d_linear.cpp.o -MF CMakeFiles/solver_slam2d_linear.dir/slam2d_linear.cpp.o.d -o CMakeFiles/solver_slam2d_linear.dir/slam2d_linear.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/slam2d_linear.cpp"
-[ 54%] Building CXX object unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/io_slam2d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/io_slam2d.cpp.o -MF CMakeFiles/unittest_slam2d.dir/io_slam2d.cpp.o.d -o CMakeFiles/unittest_slam2d.dir/io_slam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d/io_slam2d.cpp"
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3356,34 +3476,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 54%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/types_sclam2d.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::VelocityMeasurement, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:39:14:   required from here
-   39 |     : public BaseFixedSizedEdge<3, VelocityMeasurement, VertexSE2, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                                 VertexOdomDifferentialParams> {
-      |                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::VelocityMeasurement; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.h:40:14:   required from here
-   40 |     : public BaseFixedSizedEdge<3, SE2, VertexSE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
@@ -3395,21 +3487,16 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-[ 55%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_line.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_line.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_line.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_line.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.cpp"
-[ 55%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_pointLine.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_pointLine.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_pointLine.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_pointLine.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.cpp"
+make  -f unit_test/general/CMakeFiles/unittest_general.dir/build.make unit_test/general/CMakeFiles/unittest_general.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/general" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general/CMakeFiles/unittest_general.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/general/CMakeFiles/unittest_general.dir/build.make unit_test/general/CMakeFiles/unittest_general.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 53%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/allocate_optimizer.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/allocate_optimizer.cpp.o -MF CMakeFiles/unittest_general.dir/allocate_optimizer.cpp.o.d -o CMakeFiles/unittest_general.dir/allocate_optimizer.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/allocate_optimizer.cpp"
+[ 54%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/laser_parameters.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/laser_parameters.cpp.o -MF CMakeFiles/types_data.dir/laser_parameters.cpp.o.d -o CMakeFiles/types_data.dir/laser_parameters.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -3467,8 +3554,18 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 56%] Building CXX object g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/solver_slam2d_linear.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear" && /usr/bin/c++ -DUNIX -Dsolver_slam2d_linear_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/solver_slam2d_linear.cpp.o -MF CMakeFiles/solver_slam2d_linear.dir/solver_slam2d_linear.cpp.o.d -o CMakeFiles/solver_slam2d_linear.dir/solver_slam2d_linear.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/solver_slam2d_linear.cpp"
+[ 54%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_line2d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_line2d.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_se2_line2d.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_se2_line2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.cpp"
+make  -f unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build.make unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build.make unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 55%] Building CXX object g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/edge_se2_odom_differential_calib.cpp.o
+[ 56%] Building CXX object unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/io_slam3d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/c++ -DUNIX -Dtypes_sclam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/edge_se2_odom_differential_calib.cpp.o -MF CMakeFiles/types_sclam2d.dir/edge_se2_odom_differential_calib.cpp.o.d -o CMakeFiles/types_sclam2d.dir/edge_se2_odom_differential_calib.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/io_slam3d.cpp.o -MF CMakeFiles/unittest_slam3d.dir/io_slam3d.cpp.o.d -o CMakeFiles/unittest_slam3d.dir/io_slam3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d/io_slam3d.cpp"
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
@@ -3480,57 +3577,57 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
+[ 57%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_line2d_pointxy.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_line2d_pointxy.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_line2d_pointxy.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_line2d_pointxy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d_pointxy.cpp"
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.cpp:27:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+[ 57%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_line2d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_line2d.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_line2d.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_line2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.cpp"
+[ 58%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/auto_diff.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/auto_diff.cpp.o -MF CMakeFiles/unittest_general.dir/auto_diff.cpp.o.d -o CMakeFiles/unittest_general.dir/auto_diff.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/auto_diff.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam3d/io_slam3d.cpp:29:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-[ 57%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/vertex_line2d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/vertex_line2d.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/vertex_line2d.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/vertex_line2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/vertex_line2d.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
@@ -3546,20 +3643,18 @@
       |                                       ^~~~~~~
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::VelocityMeasurement, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:39:14:   required from here
+   39 |     : public BaseFixedSizedEdge<3, VelocityMeasurement, VertexSE2, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                                 VertexOdomDifferentialParams> {
+      |                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::VelocityMeasurement; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
@@ -3573,99 +3668,79 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/sparse_optimizer.h:33,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/solver_slam2d_linear.cpp:35:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+make  -f g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build.make g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build.make g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 58%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_se3_euler.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_se3_euler.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/vertex_se3_euler.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/vertex_se3_euler.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/vertex_se3_euler.cpp"
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
-   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/solver_slam2d_linear.cpp:39:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 57%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_line2d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_se2_line2d.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_se2_line2d.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_se2_line2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.cpp"
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/matrix_operations.h:32,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/sparse_block_matrix.h:42,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm.h:37,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm_with_hessian.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm_gauss_newton.h:33,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/solver_slam2d_linear.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/solver_slam2d_linear.cpp:27:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-[ 57%] Linking CXX shared library ../../../lib/libg2o_types_sclam2d.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_sclam2d.dir/link.txt --verbose=1
-/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /usr/include/eigen3/Eigen/Dense:6,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_vertex.h:32,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/vertex_line2d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/vertex_line2d.cpp:27:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_sclam2d.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_sclam2d.so.0.1 -o ../../../lib/libg2o_types_sclam2d.so.0.1.0 CMakeFiles/types_sclam2d.dir/edge_se2_sensor_calib.cpp.o CMakeFiles/types_sclam2d.dir/vertex_odom_differential_params.cpp.o CMakeFiles/types_sclam2d.dir/edge_se2_odom_differential_calib.cpp.o CMakeFiles/types_sclam2d.dir/odometry_measurement.cpp.o CMakeFiles/types_sclam2d.dir/types_sclam2d.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_sclam2d.so.0.1.0 ../../../lib/libg2o_types_sclam2d.so.0.1 ../../../lib/libg2o_types_sclam2d.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 57%] Built target types_sclam2d
-[ 58%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_line2d_pointxy.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_line2d_pointxy.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_line2d_pointxy.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_line2d_pointxy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d_pointxy.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -3686,8 +3761,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexLine2D, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 58%] Linking CXX shared library ../../../lib/libg2o_types_slam3d.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_slam3d.dir/link.txt --verbose=1
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
@@ -3699,52 +3772,6 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-[ 58%] Linking CXX shared library ../../../lib/libg2o_types_data.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_data.dir/link.txt --verbose=1
-/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_data.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_data.so.0.1 -o ../../../lib/libg2o_types_data.so.0.1.0 CMakeFiles/types_data.dir/types_data.cpp.o CMakeFiles/types_data.dir/robot_data.cpp.o CMakeFiles/types_data.dir/vertex_tag.cpp.o CMakeFiles/types_data.dir/vertex_ellipse.cpp.o CMakeFiles/types_data.dir/laser_parameters.cpp.o CMakeFiles/types_data.dir/raw_laser.cpp.o CMakeFiles/types_data.dir/robot_laser.cpp.o CMakeFiles/types_data.dir/data_queue.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_ext_freeglut_minimal.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_data.so.0.1.0 ../../../lib/libg2o_types_data.so.0.1 ../../../lib/libg2o_types_data.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 58%] Built target types_data
-[ 58%] Building CXX object g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_line2d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam2d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/edge_line2d.cpp.o -MF CMakeFiles/types_slam2d_addons.dir/edge_line2d.cpp.o.d -o CMakeFiles/types_slam2d_addons.dir/edge_line2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.cpp"
-make  -f unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build.make unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build.make unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 58%] Building CXX object unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/io_sclam2d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/io_sclam2d.cpp.o -MF CMakeFiles/unittest_sclam2d.dir/io_sclam2d.cpp.o.d -o CMakeFiles/unittest_sclam2d.dir/io_sclam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sclam2d/io_sclam2d.cpp"
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_slam3d.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_slam3d.so.0.1 -o ../../../lib/libg2o_types_slam3d.so.0.1.0 CMakeFiles/types_slam3d.dir/dquat2mat.cpp.o CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o CMakeFiles/types_slam3d.dir/isometry3d_gradients.cpp.o CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o CMakeFiles/types_slam3d.dir/edge_se3.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_xyzprior.cpp.o CMakeFiles/types_slam3d.dir/edge_se3_lotsofxyz.cpp.o CMakeFiles/types_slam3d.dir/edge_xyz_prior.cpp.o CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_types_slam3d.so.0.1 ../../../lib/libg2o_types_slam3d.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 58%] Built target types_slam3d
-[ 59%] Building CXX object unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/odom_convert_sclam2d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/odom_convert_sclam2d.cpp.o -MF CMakeFiles/unittest_sclam2d.dir/odom_convert_sclam2d.cpp.o.d -o CMakeFiles/unittest_sclam2d.dir/odom_convert_sclam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sclam2d/odom_convert_sclam2d.cpp"
-make  -f unit_test/data/CMakeFiles/unittest_data.dir/build.make unit_test/data/CMakeFiles/unittest_data.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data/CMakeFiles/unittest_data.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/data/CMakeFiles/unittest_data.dir/build.make unit_test/data/CMakeFiles/unittest_data.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 59%] Building CXX object unit_test/data/CMakeFiles/unittest_data.dir/data_queue_tests.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/data/CMakeFiles/unittest_data.dir/data_queue_tests.cpp.o -MF CMakeFiles/unittest_data.dir/data_queue_tests.cpp.o.d -o CMakeFiles/unittest_data.dir/data_queue_tests.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/data/data_queue_tests.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -3776,24 +3803,22 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-make  -f unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build.make unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build.make unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 60%] Building CXX object unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/io_slam3d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/io_slam3d.cpp.o -MF CMakeFiles/unittest_slam3d.dir/io_slam3d.cpp.o.d -o CMakeFiles/unittest_slam3d.dir/io_slam3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d/io_slam3d.cpp"
-[ 60%] Building CXX object unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/jacobians_slam3d.cpp.o
-make  -f g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build.make g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/depend
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/jacobians_slam3d.cpp.o -MF CMakeFiles/unittest_slam3d.dir/jacobians_slam3d.cpp.o.d -o CMakeFiles/unittest_slam3d.dir/jacobians_slam3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d/jacobians_slam3d.cpp"
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build.make g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 60%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_se3_euler.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_se3_euler.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/vertex_se3_euler.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/vertex_se3_euler.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/vertex_se3_euler.cpp"
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/auto_diff.cpp:30:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
+   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3807,32 +3832,7 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/sclam2d/io_sclam2d.cpp:29:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::VelocityMeasurement, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:39:14:   required from here
-   39 |     : public BaseFixedSizedEdge<3, VelocityMeasurement, VertexSE2, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                                 VertexOdomDifferentialParams> {
-      |                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::VelocityMeasurement; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.h:40:14:   required from here
-   40 |     : public BaseFixedSizedEdge<3, SE2, VertexSE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
+[ 58%] Linking CXX shared library ../../../lib/libg2o_solver_slam2d_linear.so
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3846,6 +3846,7 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_slam2d_linear.dir/link.txt --verbose=1
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -3859,7 +3860,7 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
+/usr/lib/aarch64-linux-gnu/libGLU.so/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
@@ -3869,6 +3870,14 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
+: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
@@ -3885,17 +3894,18 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, VertexFlatSE2, VertexFlatSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/unit_test/general/auto_diff.cpp:53:19:   required from here
+   53 |     : public g2o::BaseFixedSizedEdge<2, g2o::Vector2, VertexFlatSE2,
+      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   54 |                                      VertexFlatSE2, g2o::VertexPointXY> {
+      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {VertexFlatSE2, VertexFlatSE2, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3911,6 +3921,8 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_slam2d_linear.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_slam2d_linear.so.0.1 -o ../../../lib/libg2o_solver_slam2d_linear.so.0.1.0 CMakeFiles/solver_slam2d_linear.dir/slam2d_linear.cpp.o CMakeFiles/solver_slam2d_linear.dir/solver_slam2d_linear.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_solver_eigen.so.0.1.0 ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt ../../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_slam2d_linear.so.0.1.0 ../../../lib/libg2o_solver_slam2d_linear.so.0.1 ../../../lib/libg2o_solver_slam2d_linear.so
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3926,6 +3938,8 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 58%] Built target solver_slam2d_linear
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3939,6 +3953,8 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+[ 58%] Building CXX object unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/jacobians_slam3d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/jacobians_slam3d.cpp.o -MF CMakeFiles/unittest_slam3d.dir/jacobians_slam3d.cpp.o.d -o CMakeFiles/unittest_slam3d.dir/jacobians_slam3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d/jacobians_slam3d.cpp"
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -3982,6 +3998,17 @@
       |                             ^~~~~~~~~~~~
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/auto_differentiation.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/auto_diff.cpp:29:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
@@ -3991,26 +4018,8 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-[ 60%] Building CXX object unit_test/data/CMakeFiles/unittest_data.dir/io_data.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/data/CMakeFiles/unittest_data.dir/io_data.cpp.o -MF CMakeFiles/unittest_data.dir/io_data.cpp.o.d -o CMakeFiles/unittest_data.dir/io_data.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/data/io_data.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam3d/io_slam3d.cpp:29:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
+[ 58%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/batch_statistics.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/batch_statistics.cpp.o -MF CMakeFiles/unittest_general.dir/batch_statistics.cpp.o.d -o CMakeFiles/unittest_general.dir/batch_statistics.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/batch_statistics.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/unit_test/slam3d/jacobians_slam3d.cpp:29:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
@@ -4028,16 +4037,8 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-make  -f g2o/types/sba/CMakeFiles/types_sba.dir/build.make g2o/types/sba/CMakeFiles/types_sba.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba/CMakeFiles/types_sba.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/types/sba/CMakeFiles/types_sba.dir/build.make g2o/types/sba/CMakeFiles/types_sba.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 61%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/types_sba.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/types_sba.cpp.o -MF CMakeFiles/types_sba.dir/types_sba.cpp.o.d -o CMakeFiles/types_sba.dir/types_sba.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_sba.cpp"
-[ 61%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/types_six_dof_expmap.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/types_six_dof_expmap.cpp.o -MF CMakeFiles/types_sba.dir/types_six_dof_expmap.cpp.o.d -o CMakeFiles/types_sba.dir/types_six_dof_expmap.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_six_dof_expmap.cpp"
+[ 58%] Building CXX object g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/odometry_measurement.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/c++ -DUNIX -Dtypes_sclam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/odometry_measurement.cpp.o -MF CMakeFiles/types_sclam2d.dir/odometry_measurement.cpp.o.d -o CMakeFiles/types_sclam2d.dir/odometry_measurement.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/odometry_measurement.cpp"
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -4051,8 +4052,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 61%] Linking CXX shared library ../../../lib/libg2o_solver_slam2d_linear.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear" && /usr/bin/cmake -E cmake_link_script CMakeFiles/solver_slam2d_linear.dir/link.txt --verbose=1
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -4066,40 +4065,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -4113,59 +4078,89 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+[ 59%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_euler.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_euler.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/edge_se3_euler.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/edge_se3_euler.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_euler.cpp"
+[ 60%] Building CXX object g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/types_sclam2d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/c++ -DUNIX -Dtypes_sclam2d_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/types_sclam2d.cpp.o -MF CMakeFiles/types_sclam2d.dir/types_sclam2d.cpp.o.d -o CMakeFiles/types_sclam2d.dir/types_sclam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/types_sclam2d.cpp"
+[ 60%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/raw_laser.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/raw_laser.cpp.o -MF CMakeFiles/types_data.dir/raw_laser.cpp.o.d -o CMakeFiles/types_data.dir/raw_laser.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.cpp"
+[ 60%] Linking CXX shared library ../../../lib/libg2o_types_slam2d_addons.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_slam2d_addons.dir/link.txt --verbose=1
+/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_euler.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_euler.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_slam2d_addons.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_slam2d_addons.so.0.1 -o ../../../lib/libg2o_types_slam2d_addons.so.0.1.0 CMakeFiles/types_slam2d_addons.dir/types_slam2d_addons.cpp.o CMakeFiles/types_slam2d_addons.dir/vertex_segment2d.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_line.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_pointLine.cpp.o CMakeFiles/types_slam2d_addons.dir/vertex_line2d.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_se2_line2d.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_line2d_pointxy.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_line2d.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_slam2d_addons.so.0.1.0 ../../../lib/libg2o_types_slam2d_addons.so.0.1 ../../../lib/libg2o_types_slam2d_addons.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 60%] Built target types_slam2d_addons
+[ 61%] Building CXX object unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/mappings_slam3d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/mappings_slam3d.cpp.o -MF CMakeFiles/unittest_slam3d.dir/mappings_slam3d.cpp.o.d -o CMakeFiles/unittest_slam3d.dir/mappings_slam3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d/mappings_slam3d.cpp"
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/types_sclam2d.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::VelocityMeasurement, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:39:14:   required from here
+   39 |     : public BaseFixedSizedEdge<3, VelocityMeasurement, VertexSE2, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                                 VertexOdomDifferentialParams> {
+      |                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::VelocityMeasurement; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.h:40:14:   required from here
+   40 |     : public BaseFixedSizedEdge<3, SE2, VertexSE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/solver_slam2d_linear.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_solver_slam2d_linear.so.0.1 -o ../../../lib/libg2o_solver_slam2d_linear.so.0.1.0 CMakeFiles/solver_slam2d_linear.dir/slam2d_linear.cpp.o CMakeFiles/solver_slam2d_linear.dir/solver_slam2d_linear.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_solver_eigen.so.0.1.0 ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt ../../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_solver_slam2d_linear.so.0.1.0 ../../../lib/libg2o_solver_slam2d_linear.so.0.1 ../../../lib/libg2o_solver_slam2d_linear.so
-[ 62%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_euler.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_euler.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/edge_se3_euler.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/edge_se3_euler.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_euler.cpp"
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 62%] Built target solver_slam2d_linear
-[ 62%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/vertex_intrinsics.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/vertex_intrinsics.cpp.o -MF CMakeFiles/types_sba.dir/vertex_intrinsics.cpp.o.d -o CMakeFiles/types_sba.dir/vertex_intrinsics.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/vertex_intrinsics.cpp"
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.h:30,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_laser.h:32,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/data/io_data.cpp:32:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.cpp:27:
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
 /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
    85 |     ret._R = _R.inverse();
@@ -4173,167 +4168,186 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
+[ 61%] Linking CXX shared library ../../../lib/libg2o_types_sclam2d.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_sclam2d.dir/link.txt --verbose=1
+/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+[ 61%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/robot_laser.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/robot_laser.cpp.o -MF CMakeFiles/types_data.dir/robot_laser.cpp.o.d -o CMakeFiles/types_data.dir/robot_laser.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_laser.cpp"
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_sclam2d.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_sclam2d.so.0.1 -o ../../../lib/libg2o_types_sclam2d.so.0.1.0 CMakeFiles/types_sclam2d.dir/edge_se2_sensor_calib.cpp.o CMakeFiles/types_sclam2d.dir/vertex_odom_differential_params.cpp.o CMakeFiles/types_sclam2d.dir/edge_se2_odom_differential_calib.cpp.o CMakeFiles/types_sclam2d.dir/odometry_measurement.cpp.o CMakeFiles/types_sclam2d.dir/types_sclam2d.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_sclam2d.so.0.1.0 ../../../lib/libg2o_types_sclam2d.so.0.1 ../../../lib/libg2o_types_sclam2d.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 61%] Built target types_sclam2d
+[ 62%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/graph_operations.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/graph_operations.cpp.o -MF CMakeFiles/unittest_general.dir/graph_operations.cpp.o.d -o CMakeFiles/unittest_general.dir/graph_operations.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/graph_operations.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_sba.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_sba.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam3d/mappings_slam3d.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
+[ 62%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_plane.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_plane.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/vertex_plane.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/vertex_plane.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/vertex_plane.cpp"
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_laser.h:32,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_laser.cpp:27:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+[ 62%] Building CXX object unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/orthogonal_matrix.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/orthogonal_matrix.cpp.o -MF CMakeFiles/unittest_slam3d.dir/orthogonal_matrix.cpp.o.d -o CMakeFiles/unittest_slam3d.dir/orthogonal_matrix.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d/orthogonal_matrix.cpp"
+In file included from /build/reproducible-path/g2o-0~20230806/unit_test/general/graph_operations.cpp:41:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_six_dof_expmap.h:38,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_six_dof_expmap.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
-   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
-      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
-      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<2, Vector2, VertexPointXY, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/graph_operations.cpp:45:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_cam.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexCam, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
+   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexCam, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexCam, g2o::VertexCam>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<1, double, VertexCam, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.h:41:14:   required from here
+   41 |     : public BaseUnaryEdge<2, Vector2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_euler.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_euler.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
+   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 62%] Linking CXX shared library ../../../lib/libg2o_types_slam2d_addons.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_slam2d_addons.dir/link.txt --verbose=1
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/graph_operations.cpp:36:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+[ 63%] Building CXX object g2o/types/data/CMakeFiles/types_data.dir/data_queue.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/c++ -DUNIX -Dtypes_data_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/data/CMakeFiles/types_data.dir/data_queue.cpp.o -MF CMakeFiles/types_data.dir/data_queue.cpp.o.d -o CMakeFiles/types_data.dir/data_queue.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/data/data_queue.cpp"
+make  -f g2o/types/sba/CMakeFiles/types_sba.dir/build.make g2o/types/sba/CMakeFiles/types_sba.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba/CMakeFiles/types_sba.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/types/sba/CMakeFiles/types_sba.dir/build.make g2o/types/sba/CMakeFiles/types_sba.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 64%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/types_sba.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/types_sba.cpp.o -MF CMakeFiles/types_sba.dir/types_sba.cpp.o.d -o CMakeFiles/types_sba.dir/types_sba.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_sba.cpp"
+[ 64%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/clear_and_redo.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/clear_and_redo.cpp.o -MF CMakeFiles/unittest_general.dir/clear_and_redo.cpp.o.d -o CMakeFiles/unittest_general.dir/clear_and_redo.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/clear_and_redo.cpp"
+[ 65%] Linking CXX executable ../../bin/unittest_slam2d
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_slam2d.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_slam2d.dir/link.d CMakeFiles/unittest_slam2d.dir/mappings_se2.cpp.o CMakeFiles/unittest_slam2d.dir/jacobians_slam2d.cpp.o CMakeFiles/unittest_slam2d.dir/io_slam2d.cpp.o -o ../../bin/unittest_slam2d  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_slam2d.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 65%] Built target unittest_slam2d
+[ 66%] Building CXX object unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/optimization_slam3d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/optimization_slam3d.cpp.o -MF CMakeFiles/unittest_slam3d.dir/optimization_slam3d.cpp.o.d -o CMakeFiles/unittest_slam3d.dir/optimization_slam3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d/optimization_slam3d.cpp"
+[ 66%] Linking CXX shared library ../../../lib/libg2o_types_data.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_data.dir/link.txt --verbose=1
 /usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
@@ -4342,101 +4356,90 @@
 /lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_slam2d_addons.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_slam2d_addons.so.0.1 -o ../../../lib/libg2o_types_slam2d_addons.so.0.1.0 CMakeFiles/types_slam2d_addons.dir/types_slam2d_addons.cpp.o CMakeFiles/types_slam2d_addons.dir/vertex_segment2d.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_line.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_se2_segment2d_pointLine.cpp.o CMakeFiles/types_slam2d_addons.dir/vertex_line2d.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_se2_line2d.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_line2d_pointxy.cpp.o CMakeFiles/types_slam2d_addons.dir/edge_line2d.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_slam2d_addons.so.0.1.0 ../../../lib/libg2o_types_slam2d_addons.so.0.1 ../../../lib/libg2o_types_slam2d_addons.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 62%] Built target types_slam2d_addons
-make  -f unit_test/general/CMakeFiles/unittest_general.dir/build.make unit_test/general/CMakeFiles/unittest_general.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/general" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general/CMakeFiles/unittest_general.dir/DependInfo.cmake" "--color="
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-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 62%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/allocate_optimizer.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/allocate_optimizer.cpp.o -MF CMakeFiles/unittest_general.dir/allocate_optimizer.cpp.o.d -o CMakeFiles/unittest_general.dir/allocate_optimizer.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/allocate_optimizer.cpp"
-[ 63%] Linking CXX executable ../../bin/unittest_data
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_data.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_data.dir/link.d CMakeFiles/unittest_data.dir/data_queue_tests.cpp.o CMakeFiles/unittest_data.dir/io_data.cpp.o -o ../../bin/unittest_data  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_data.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_types_slam2d.so.0.1.0 ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_ext_freeglut_minimal.so.0.1.0 ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 63%] Linking CXX executable ../../bin/unittest_sclam2d
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_sclam2d.dir/link.txt --verbose=1
-[ 63%] Built target unittest_data
-make  -f unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/build.make unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
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-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 63%] Building CXX object unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/io_slam2d_addons.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d_addons" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/io_slam2d_addons.cpp.o -MF CMakeFiles/unittest_slam2d_addons.dir/io_slam2d_addons.cpp.o.d -o CMakeFiles/unittest_slam2d_addons.dir/io_slam2d_addons.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d_addons/io_slam2d_addons.cpp"
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_sclam2d.dir/link.d CMakeFiles/unittest_sclam2d.dir/io_sclam2d.cpp.o CMakeFiles/unittest_sclam2d.dir/odom_convert_sclam2d.cpp.o -o ../../bin/unittest_sclam2d  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_sclam2d.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_types_slam2d.so.0.1.0 ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 63%] Built target unittest_sclam2d
-[ 64%] Building CXX object unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/mappings_slam3d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/mappings_slam3d.cpp.o -MF CMakeFiles/unittest_slam3d.dir/mappings_slam3d.cpp.o.d -o CMakeFiles/unittest_slam3d.dir/mappings_slam3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d/mappings_slam3d.cpp"
-[ 64%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_plane.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_plane.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/vertex_plane.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/vertex_plane.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/vertex_plane.cpp"
-[ 65%] Linking CXX executable ../../bin/unittest_slam2d
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_slam2d.dir/link.txt --verbose=1
-[ 66%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/vertex_cam.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/vertex_cam.cpp.o -MF CMakeFiles/types_sba.dir/vertex_cam.cpp.o.d -o CMakeFiles/types_sba.dir/vertex_cam.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/vertex_cam.cpp"
-[ 66%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_sba_cam.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_sba_cam.cpp.o -MF CMakeFiles/types_sba.dir/edge_sba_cam.cpp.o.d -o CMakeFiles/types_sba.dir/edge_sba_cam.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_cam.cpp"
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_slam2d.dir/link.d CMakeFiles/unittest_slam2d.dir/mappings_se2.cpp.o CMakeFiles/unittest_slam2d.dir/jacobians_slam2d.cpp.o CMakeFiles/unittest_slam2d.dir/io_slam2d.cpp.o -o ../../bin/unittest_slam2d  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_slam2d.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+[ 66%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/types_six_dof_expmap.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/types_six_dof_expmap.cpp.o -MF CMakeFiles/types_sba.dir/types_six_dof_expmap.cpp.o.d -o CMakeFiles/types_sba.dir/types_six_dof_expmap.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_six_dof_expmap.cpp"
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_data.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_data.so.0.1 -o ../../../lib/libg2o_types_data.so.0.1.0 CMakeFiles/types_data.dir/types_data.cpp.o CMakeFiles/types_data.dir/robot_data.cpp.o CMakeFiles/types_data.dir/vertex_tag.cpp.o CMakeFiles/types_data.dir/vertex_ellipse.cpp.o CMakeFiles/types_data.dir/laser_parameters.cpp.o CMakeFiles/types_data.dir/raw_laser.cpp.o CMakeFiles/types_data.dir/robot_laser.cpp.o CMakeFiles/types_data.dir/data_queue.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_ext_freeglut_minimal.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_data.so.0.1.0 ../../../lib/libg2o_types_data.so.0.1 ../../../lib/libg2o_types_data.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 66%] Built target unittest_slam2d
+[ 66%] Built target types_data
 [ 67%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_plane_calib.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_plane_calib.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/edge_se3_plane_calib.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/edge_se3_plane_calib.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_plane_calib.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.cpp:27,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam2d_addons/io_slam2d_addons.cpp:29:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_sba.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_sba.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<2, Vector2, VertexPointXY, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
-   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_cam.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexCam, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexCam, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexCam, g2o::VertexCam>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<1, double, VertexCam, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/sparse_optimizer.h:33,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/clear_and_redo.cpp:28:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/clear_and_redo.cpp:30:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam3d/mappings_slam3d.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -4450,140 +4453,200 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.h:41:14:   required from here
-   41 |     : public BaseUnaryEdge<2, Vector2, VertexSE2> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
-   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_six_dof_expmap.h:38,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_six_dof_expmap.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
+   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
+      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
+      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d_pointxy.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<1, double, VertexLine2D,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   41 |                             VertexPointXY>  // Avoid redefinition of BaseEdge in
-      |                             ~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexLine2D, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/sparse_optimizer.h:33,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/block_solver.hpp:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/block_solver.h:204,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam3d/optimization_slam3d.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam3d/optimization_slam3d.cpp:32:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<2, Line2D, VertexLine2D, VertexLine2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+[ 67%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/base_fixed_sized_edge.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/base_fixed_sized_edge.cpp.o -MF CMakeFiles/unittest_general.dir/base_fixed_sized_edge.cpp.o.d -o CMakeFiles/unittest_general.dir/base_fixed_sized_edge.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/base_fixed_sized_edge.cpp"
+[ 67%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/vertex_intrinsics.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/vertex_intrinsics.cpp.o -MF CMakeFiles/types_sba.dir/vertex_intrinsics.cpp.o.d -o CMakeFiles/types_sba.dir/vertex_intrinsics.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/vertex_intrinsics.cpp"
+make  -f unit_test/solver/CMakeFiles/unittest_solver.dir/build.make unit_test/solver/CMakeFiles/unittest_solver.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/solver" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver/CMakeFiles/unittest_solver.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/solver/CMakeFiles/unittest_solver.dir/build.make unit_test/solver/CMakeFiles/unittest_solver.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 67%] Building CXX object unit_test/solver/CMakeFiles/unittest_solver.dir/sparse_system_helper.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod" -I/usr/include/suitesparse -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/solver/CMakeFiles/unittest_solver.dir/sparse_system_helper.cpp.o -MF CMakeFiles/unittest_solver.dir/sparse_system_helper.cpp.o.d -o CMakeFiles/unittest_solver.dir/sparse_system_helper.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/solver/sparse_system_helper.cpp"
+[ 68%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/robust_kernel_tests.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/robust_kernel_tests.cpp.o -MF CMakeFiles/unittest_general.dir/robust_kernel_tests.cpp.o.d -o CMakeFiles/unittest_general.dir/robust_kernel_tests.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/robust_kernel_tests.cpp"
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/base_fixed_sized_edge.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/unit_test/general/base_fixed_sized_edge.cpp:38:19:   required from here
+   38 |     : public g2o::BaseFixedSizedEdge<2, g2o::Vector2, g2o::VertexSE2,
+      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   39 |                                      g2o::VertexSE2, g2o::VertexPointXY> {
+      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, VertexNotDefaultCtor>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, VertexNotDefaultCtor>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/unit_test/general/base_fixed_sized_edge.cpp:86:19:   required from here
+   86 |     : public g2o::BaseUnaryEdge<2, g2o::Vector2, VertexNotDefaultCtor> {
+      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {VertexNotDefaultCtor}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
@@ -4597,6 +4660,26 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
+[ 68%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/line3d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/line3d.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/line3d.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/line3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/line3d.cpp"
+[ 69%] Building CXX object unit_test/solver/CMakeFiles/unittest_solver.dir/allocate_algorithm_test.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod" -I/usr/include/suitesparse -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/solver/CMakeFiles/unittest_solver.dir/allocate_algorithm_test.cpp.o -MF CMakeFiles/unittest_solver.dir/allocate_algorithm_test.cpp.o.d -o CMakeFiles/unittest_solver.dir/allocate_algorithm_test.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/solver/allocate_algorithm_test.cpp"
+[ 70%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/vertex_cam.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/vertex_cam.cpp.o -MF CMakeFiles/types_sba.dir/vertex_cam.cpp.o.d -o CMakeFiles/types_sba.dir/vertex_cam.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/vertex_cam.cpp"
+make  -f unit_test/data/CMakeFiles/unittest_data.dir/build.make unit_test/data/CMakeFiles/unittest_data.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data/CMakeFiles/unittest_data.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/data/CMakeFiles/unittest_data.dir/build.make unit_test/data/CMakeFiles/unittest_data.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 70%] Building CXX object unit_test/data/CMakeFiles/unittest_data.dir/data_queue_tests.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/data/CMakeFiles/unittest_data.dir/data_queue_tests.cpp.o -MF CMakeFiles/unittest_data.dir/data_queue_tests.cpp.o.d -o CMakeFiles/unittest_data.dir/data_queue_tests.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/data/data_queue_tests.cpp"
+[ 70%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_sba_cam.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_sba_cam.cpp.o -MF CMakeFiles/types_sba.dir/edge_sba_cam.cpp.o.d -o CMakeFiles/types_sba.dir/edge_sba_cam.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_cam.cpp"
+[ 70%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/sparse_block_matrix.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/sparse_block_matrix.cpp.o -MF CMakeFiles/unittest_general.dir/sparse_block_matrix.cpp.o.d -o CMakeFiles/unittest_general.dir/sparse_block_matrix.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/sparse_block_matrix.cpp"
+[ 70%] Building CXX object unit_test/data/CMakeFiles/unittest_data.dir/io_data.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/data" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/data/CMakeFiles/unittest_data.dir/io_data.cpp.o -MF CMakeFiles/unittest_data.dir/io_data.cpp.o.d -o CMakeFiles/unittest_data.dir/io_data.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/data/io_data.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
@@ -4615,70 +4698,65 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 68%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_sba_scale.cpp.o
+[ 70%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_line3d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_line3d.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/vertex_line3d.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/vertex_line3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/vertex_line3d.cpp"
+[ 70%] Building CXX object unit_test/solver/CMakeFiles/unittest_solver.dir/linear_solver_test.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod" -I/usr/include/suitesparse -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/solver/CMakeFiles/unittest_solver.dir/linear_solver_test.cpp.o -MF CMakeFiles/unittest_solver.dir/linear_solver_test.cpp.o.d -o CMakeFiles/unittest_solver.dir/linear_solver_test.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/solver/linear_solver_test.cpp"
+make  -f unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build.make unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/DependInfo.cmake" "--color="
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/laser_parameters.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/data/robot_laser.h:32,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/data/io_data.cpp:32:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build.make unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 70%] Building CXX object unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/io_sclam2d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/io_sclam2d.cpp.o -MF CMakeFiles/unittest_sclam2d.dir/io_sclam2d.cpp.o.d -o CMakeFiles/unittest_sclam2d.dir/io_sclam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sclam2d/io_sclam2d.cpp"
+[ 71%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_sba_scale.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_sba_scale.cpp.o -MF CMakeFiles/types_sba.dir/edge_sba_scale.cpp.o.d -o CMakeFiles/types_sba.dir/edge_sba_scale.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.cpp"
-[ 69%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/auto_diff.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/auto_diff.cpp.o -MF CMakeFiles/unittest_general.dir/auto_diff.cpp.o.d -o CMakeFiles/unittest_general.dir/auto_diff.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/auto_diff.cpp"
-[ 69%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_p2mc.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_p2mc.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_p2mc.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_p2mc.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexCam, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexCam, g2o::VertexCam>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<1, double, VertexCam, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
+[ 72%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_line.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_line.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/edge_se3_line.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/edge_se3_line.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/auto_diff.cpp:30:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
-   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/sclam2d/io_sclam2d.cpp:29:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::VelocityMeasurement, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_odom_differential_calib.h:39:14:   required from here
+   39 |     : public BaseFixedSizedEdge<3, VelocityMeasurement, VertexSE2, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                                 VertexOdomDifferentialParams> {
+      |                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::VelocityMeasurement; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexOdomDifferentialParams}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-make  -f unit_test/solver/CMakeFiles/unittest_solver.dir/build.make unit_test/solver/CMakeFiles/unittest_solver.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/solver" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver/CMakeFiles/unittest_solver.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/solver/CMakeFiles/unittest_solver.dir/build.make unit_test/solver/CMakeFiles/unittest_solver.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 69%] Building CXX object unit_test/solver/CMakeFiles/unittest_solver.dir/sparse_system_helper.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod" -I/usr/include/suitesparse -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/solver/CMakeFiles/unittest_solver.dir/sparse_system_helper.cpp.o -MF CMakeFiles/unittest_solver.dir/sparse_system_helper.cpp.o.d -o CMakeFiles/unittest_solver.dir/sparse_system_helper.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/solver/sparse_system_helper.cpp"
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, VertexFlatSE2, VertexFlatSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/unit_test/general/auto_diff.cpp:53:19:   required from here
-   53 |     : public g2o::BaseFixedSizedEdge<2, g2o::Vector2, VertexFlatSE2,
-      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   54 |                                      VertexFlatSE2, g2o::VertexPointXY> {
-      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/edge_se2_sensor_calib.h:40:14:   required from here
+   40 |     : public BaseFixedSizedEdge<3, SE2, VertexSE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {VertexFlatSE2, VertexFlatSE2, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/auto_differentiation.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/auto_diff.cpp:29:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
 /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
    85 |     ret._R = _R.inverse();
@@ -4686,135 +4764,65 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-[ 69%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/line3d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/line3d.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/line3d.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/line3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/line3d.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexCam, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexCam, g2o::VertexCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<1, double, VertexCam, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 70%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_p2sc.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_p2sc.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_p2sc.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_p2sc.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-[ 70%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_line3d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_line3d.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/vertex_line3d.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/vertex_line3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/vertex_line3d.cpp"
-[ 71%] Building CXX object unit_test/solver/CMakeFiles/unittest_solver.dir/allocate_algorithm_test.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod" -I/usr/include/suitesparse -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/solver/CMakeFiles/unittest_solver.dir/allocate_algorithm_test.cpp.o -MF CMakeFiles/unittest_solver.dir/allocate_algorithm_test.cpp.o.d -o CMakeFiles/unittest_solver.dir/allocate_algorithm_test.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/solver/allocate_algorithm_test.cpp"
-[ 71%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/sbacam.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/sbacam.cpp.o -MF CMakeFiles/types_sba.dir/sbacam.cpp.o.d -o CMakeFiles/types_sba.dir/sbacam.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/sbacam.cpp"
-[ 71%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/batch_statistics.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/batch_statistics.cpp.o -MF CMakeFiles/unittest_general.dir/batch_statistics.cpp.o.d -o CMakeFiles/unittest_general.dir/batch_statistics.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/batch_statistics.cpp"
-[ 71%] Building CXX object unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/orthogonal_matrix.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/orthogonal_matrix.cpp.o -MF CMakeFiles/unittest_slam3d.dir/orthogonal_matrix.cpp.o.d -o CMakeFiles/unittest_slam3d.dir/orthogonal_matrix.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d/orthogonal_matrix.cpp"
-[ 72%] Building CXX object unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/optimization_slam3d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/optimization_slam3d.cpp.o -MF CMakeFiles/unittest_slam3d.dir/optimization_slam3d.cpp.o.d -o CMakeFiles/unittest_slam3d.dir/optimization_slam3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d/optimization_slam3d.cpp"
-[ 72%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/parameter_cameraparameters.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/parameter_cameraparameters.cpp.o -MF CMakeFiles/types_sba.dir/parameter_cameraparameters.cpp.o.d -o CMakeFiles/types_sba.dir/parameter_cameraparameters.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/parameter_cameraparameters.cpp"
-[ 73%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/vertex_se3_expmap.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/vertex_se3_expmap.cpp.o -MF CMakeFiles/types_sba.dir/vertex_se3_expmap.cpp.o.d -o CMakeFiles/types_sba.dir/vertex_se3_expmap.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/vertex_se3_expmap.cpp"
-[ 73%] Building CXX object unit_test/solver/CMakeFiles/unittest_solver.dir/linear_solver_test.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod" -I/usr/include/suitesparse -I"/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/solver/CMakeFiles/unittest_solver.dir/linear_solver_test.cpp.o -MF CMakeFiles/unittest_solver.dir/linear_solver_test.cpp.o.d -o CMakeFiles/unittest_solver.dir/linear_solver_test.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/solver/linear_solver_test.cpp"
-[ 73%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz2uv.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz2uv.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_xyz2uv.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_xyz2uv.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uv.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/sparse_optimizer.h:33,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/block_solver.hpp:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/block_solver.h:204,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam3d/optimization_slam3d.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam3d/optimization_slam3d.cpp:32:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-[ 74%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz2uvu.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz2uvu.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_xyz2uvu.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_xyz2uvu.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uvu.cpp"
-[ 75%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/graph_operations.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/graph_operations.cpp.o -MF CMakeFiles/unittest_general.dir/graph_operations.cpp.o.d -o CMakeFiles/unittest_general.dir/graph_operations.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/graph_operations.cpp"
-[ 76%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_line.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_line.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/edge_se3_line.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/edge_se3_line.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.cpp"
-[ 76%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/clear_and_redo.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/clear_and_redo.cpp.o -MF CMakeFiles/unittest_general.dir/clear_and_redo.cpp.o.d -o CMakeFiles/unittest_general.dir/clear_and_redo.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/clear_and_redo.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uv.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uv.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uv.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 76%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_plane.cpp.o
+make  -f unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/build.make unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/build.make unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 72%] Building CXX object unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/io_slam2d_addons.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d_addons" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/io_slam2d_addons.cpp.o -MF CMakeFiles/unittest_slam2d_addons.dir/io_slam2d_addons.cpp.o.d -o CMakeFiles/unittest_slam2d_addons.dir/io_slam2d_addons.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d_addons/io_slam2d_addons.cpp"
+[ 73%] Linking CXX executable ../../bin/unittest_data
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_data.dir/link.txt --verbose=1
+[ 74%] Building CXX object unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/odom_convert_sclam2d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/odom_convert_sclam2d.cpp.o -MF CMakeFiles/unittest_sclam2d.dir/odom_convert_sclam2d.cpp.o.d -o CMakeFiles/unittest_sclam2d.dir/odom_convert_sclam2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sclam2d/odom_convert_sclam2d.cpp"
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_data.dir/link.d CMakeFiles/unittest_data.dir/data_queue_tests.cpp.o CMakeFiles/unittest_data.dir/io_data.cpp.o -o ../../bin/unittest_data  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_data.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_types_slam2d.so.0.1.0 ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_ext_freeglut_minimal.so.0.1.0 ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 74%] Built target unittest_data
+[ 74%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_plane.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_plane.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/edge_plane.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/edge_plane.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uvu.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uvu.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uvu.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-[ 76%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_xyz.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_xyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/unit_test/general/graph_operations.cpp:41:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.cpp:27,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam2d_addons/io_slam2d_addons.cpp:29:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -4825,31 +4833,11 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/graph_operations.cpp:45:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/sparse_optimizer.h:33,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/clear_and_redo.cpp:28:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/clear_and_redo.cpp:30:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
+[ 75%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_calib.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_calib.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/edge_se3_calib.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/edge_se3_calib.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_calib.cpp"
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -4863,24 +4851,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -4920,6 +4890,24 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -4946,178 +4934,88 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/graph_operations.cpp:36:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 76%] Linking CXX executable ../../bin/unittest_slam2d_addons
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d_addons" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_slam2d_addons.dir/link.txt --verbose=1
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_slam2d_addons.dir/link.d CMakeFiles/unittest_slam2d_addons.dir/io_slam2d_addons.cpp.o -o ../../bin/unittest_slam2d_addons  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_slam2d_addons.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_types_slam2d.so.0.1.0 ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 76%] Built target unittest_slam2d_addons
-[ 77%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_psi2uv.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_psi2uv.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_psi2uv.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_psi2uv.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
-   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
-      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
-      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d_pointxy.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<1, double, VertexLine2D,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   41 |                             VertexPointXY>  // Avoid redefinition of BaseEdge in
+      |                             ~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexLine2D, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 77%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/base_fixed_sized_edge.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/base_fixed_sized_edge.cpp.o -MF CMakeFiles/unittest_general.dir/base_fixed_sized_edge.cpp.o.d -o CMakeFiles/unittest_general.dir/base_fixed_sized_edge.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/base_fixed_sized_edge.cpp"
-[ 77%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_se3_expmap.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_se3_expmap.cpp.o -MF CMakeFiles/types_sba.dir/edge_se3_expmap.cpp.o.d -o CMakeFiles/types_sba.dir/edge_se3_expmap.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.cpp"
-[ 77%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_stereo_xyz.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_stereo_xyz.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_stereo_xyz.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_stereo_xyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.cpp"
-[ 78%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/robust_kernel_tests.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/robust_kernel_tests.cpp.o -MF CMakeFiles/unittest_general.dir/robust_kernel_tests.cpp.o.d -o CMakeFiles/unittest_general.dir/robust_kernel_tests.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/robust_kernel_tests.cpp"
-[ 79%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz_onlypose.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz_onlypose.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_xyz_onlypose.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_xyz_onlypose.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.cpp"
-[ 79%] Building CXX object unit_test/general/CMakeFiles/unittest_general.dir/sparse_block_matrix.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/general/CMakeFiles/unittest_general.dir/sparse_block_matrix.cpp.o -MF CMakeFiles/unittest_general.dir/sparse_block_matrix.cpp.o.d -o CMakeFiles/unittest_general.dir/sparse_block_matrix.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/general/sparse_block_matrix.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/general/base_fixed_sized_edge.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/unit_test/general/base_fixed_sized_edge.cpp:38:19:   required from here
-   38 |     : public g2o::BaseFixedSizedEdge<2, g2o::Vector2, g2o::VertexSE2,
-      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   39 |                                      g2o::VertexSE2, g2o::VertexPointXY> {
-      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, VertexNotDefaultCtor>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, VertexNotDefaultCtor>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/unit_test/general/base_fixed_sized_edge.cpp:86:19:   required from here
-   86 |     : public g2o::BaseUnaryEdge<2, g2o::Vector2, VertexNotDefaultCtor> {
-      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<2, Line2D, VertexLine2D, VertexLine2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {VertexNotDefaultCtor}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
@@ -5131,119 +5029,87 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
+[ 75%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_p2mc.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_p2mc.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_p2mc.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_p2mc.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.cpp"
+[ 75%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/types_slam3d_addons.cpp"
+[ 76%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_p2sc.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_p2sc.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_p2sc.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_p2sc.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.cpp"
+[ 76%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/sbacam.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/sbacam.cpp.o -MF CMakeFiles/types_sba.dir/sbacam.cpp.o.d -o CMakeFiles/types_sba.dir/sbacam.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/sbacam.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/types_slam3d_addons.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/types_slam3d_addons.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+[ 76%] Linking CXX executable ../../bin/unittest_sclam2d
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_sclam2d.dir/link.txt --verbose=1
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-[ 79%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_stereo_xyz_onlypose.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_stereo_xyz_onlypose.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_stereo_xyz_onlypose.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_stereo_xyz_onlypose.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 80%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_calib.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_calib.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/edge_se3_calib.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/edge_se3_calib.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_calib.cpp"
-[ 81%] Linking CXX executable ../../bin/unittest_solver
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_solver.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_solver.dir/link.d CMakeFiles/unittest_solver.dir/sparse_system_helper.cpp.o CMakeFiles/unittest_solver.dir/allocate_algorithm_test.cpp.o CMakeFiles/unittest_solver.dir/linear_solver_test.cpp.o -o ../../bin/unittest_solver  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_solver_dense.so.0.1.0 ../../lib/libg2o_solver_pcg.so.0.1.0 ../../lib/libg2o_solver_structure_only.so.0.1.0 ../../lib/libg2o_solver_slam2d_linear.so.0.1.0 ../../lib/libg2o_solver_cholmod.so.0.1.0 ../../lib/libg2o_solver_csparse.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_solver_eigen.so.0.1.0 ../../lib/libg2o_types_slam2d.so.0.1.0 ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_csparse_extension.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libcxsparse.so
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_sclam2d.dir/link.d CMakeFiles/unittest_sclam2d.dir/io_sclam2d.cpp.o CMakeFiles/unittest_sclam2d.dir/odom_convert_sclam2d.cpp.o -o ../../bin/unittest_sclam2d  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_sclam2d.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_types_slam2d.so.0.1.0 ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 81%] Built target unittest_solver
-[ 81%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/c++ -DUNIX -Dtypes_slam3d_addons_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o -MF CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o.d -o CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/types_slam3d_addons.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/types_slam3d_addons.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/types_slam3d_addons.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
+[ 76%] Built target unittest_sclam2d
+[ 76%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/parameter_cameraparameters.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/parameter_cameraparameters.cpp.o -MF CMakeFiles/types_sba.dir/parameter_cameraparameters.cpp.o.d -o CMakeFiles/types_sba.dir/parameter_cameraparameters.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/parameter_cameraparameters.cpp"
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
@@ -5324,71 +5190,57 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 82%] Linking CXX shared library ../../../lib/libg2o_types_sba.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_sba.dir/link.txt --verbose=1
-/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_sba.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_sba.so.0.1 -o ../../../lib/libg2o_types_sba.so.0.1.0 CMakeFiles/types_sba.dir/types_sba.cpp.o CMakeFiles/types_sba.dir/types_six_dof_expmap.cpp.o CMakeFiles/types_sba.dir/vertex_intrinsics.cpp.o CMakeFiles/types_sba.dir/vertex_cam.cpp.o CMakeFiles/types_sba.dir/edge_sba_cam.cpp.o CMakeFiles/types_sba.dir/edge_sba_scale.cpp.o CMakeFiles/types_sba.dir/edge_project_p2mc.cpp.o CMakeFiles/types_sba.dir/edge_project_p2sc.cpp.o CMakeFiles/types_sba.dir/sbacam.cpp.o CMakeFiles/types_sba.dir/parameter_cameraparameters.cpp.o CMakeFiles/types_sba.dir/vertex_se3_expmap.cpp.o CMakeFiles/types_sba.dir/edge_project_xyz2uv.cpp.o CMakeFiles/types_sba.dir/edge_project_xyz2uvu.cpp.o CMakeFiles/types_sba.dir/edge_project_xyz.cpp.o CMakeFiles/types_sba.dir/edge_project_psi2uv.cpp.o CMakeFiles/types_sba.dir/edge_se3_expmap.cpp.o CMakeFiles/types_sba.dir/edge_project_stereo_xyz.cpp.o CMakeFiles/types_sba.dir/edge_project_xyz_onlypose.cpp.o CMakeFiles/types_sba.dir/edge_project_stereo_xyz_onlypose.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt ../../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_sba.so.0.1.0 ../../../lib/libg2o_types_sba.so.0.1 ../../../lib/libg2o_types_sba.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 82%] Built target types_sba
-make  -f g2o/types/sim3/CMakeFiles/types_sim3.dir/build.make g2o/types/sim3/CMakeFiles/types_sim3.dir/depend
-make  -f unit_test/sba/CMakeFiles/unittest_sba.dir/build.make unit_test/sba/CMakeFiles/unittest_sba.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3/CMakeFiles/types_sim3.dir/DependInfo.cmake" "--color="
-make  -f g2o/types/icp/CMakeFiles/types_icp.dir/build.make g2o/types/icp/CMakeFiles/types_icp.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba/CMakeFiles/unittest_sba.dir/DependInfo.cmake" "--color="
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/icp" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp/CMakeFiles/types_icp.dir/DependInfo.cmake" "--color="
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-make  -f g2o/types/sim3/CMakeFiles/types_sim3.dir/build.make g2o/types/sim3/CMakeFiles/types_sim3.dir/build
+[ 77%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/vertex_se3_expmap.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/vertex_se3_expmap.cpp.o -MF CMakeFiles/types_sba.dir/vertex_se3_expmap.cpp.o.d -o CMakeFiles/types_sba.dir/vertex_se3_expmap.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/vertex_se3_expmap.cpp"
+[ 77%] Linking CXX executable ../../bin/unittest_slam3d
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_slam3d.dir/link.txt --verbose=1
+[ 77%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz2uv.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz2uv.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_xyz2uv.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_xyz2uv.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uv.cpp"
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_slam3d.dir/link.d CMakeFiles/unittest_slam3d.dir/io_slam3d.cpp.o CMakeFiles/unittest_slam3d.dir/jacobians_slam3d.cpp.o CMakeFiles/unittest_slam3d.dir/mappings_slam3d.cpp.o CMakeFiles/unittest_slam3d.dir/orthogonal_matrix.cpp.o CMakeFiles/unittest_slam3d.dir/optimization_slam3d.cpp.o -o ../../bin/unittest_slam3d  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_slam3d.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
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-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 77%] Built target unittest_slam3d
+[ 78%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz2uvu.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz2uvu.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_xyz2uvu.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_xyz2uvu.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uvu.cpp"
+[ 79%] Linking CXX executable ../../bin/unittest_general
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_general.dir/link.txt --verbose=1
+[ 79%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_xyz.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_xyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.cpp"
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_general.dir/link.d CMakeFiles/unittest_general.dir/allocate_optimizer.cpp.o CMakeFiles/unittest_general.dir/auto_diff.cpp.o CMakeFiles/unittest_general.dir/batch_statistics.cpp.o CMakeFiles/unittest_general.dir/graph_operations.cpp.o CMakeFiles/unittest_general.dir/clear_and_redo.cpp.o CMakeFiles/unittest_general.dir/base_fixed_sized_edge.cpp.o CMakeFiles/unittest_general.dir/robust_kernel_tests.cpp.o CMakeFiles/unittest_general.dir/sparse_block_matrix.cpp.o -o ../../bin/unittest_general  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_slam3d.so.0.1.0 ../../lib/libg2o_types_slam2d.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
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-[ 84%] Building CXX object g2o/types/icp/CMakeFiles/types_icp.dir/types_icp.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3" && /usr/bin/c++ -DUNIX -Dtypes_sim3_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sim3/CMakeFiles/types_sim3.dir/types_seven_dof_expmap.cpp.o -MF CMakeFiles/types_sim3.dir/types_seven_dof_expmap.cpp.o.d -o CMakeFiles/types_sim3.dir/types_seven_dof_expmap.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.cpp"
-[ 84%] Building CXX object unit_test/sba/CMakeFiles/unittest_sba.dir/io_sba.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp" && /usr/bin/c++ -DUNIX -Dtypes_icp_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/icp" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/icp/CMakeFiles/types_icp.dir/types_icp.cpp.o -MF CMakeFiles/types_icp.dir/types_icp.cpp.o.d -o CMakeFiles/types_icp.dir/types_icp.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.cpp"
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sba/CMakeFiles/unittest_sba.dir/io_sba.cpp.o -MF CMakeFiles/unittest_sba.dir/io_sba.cpp.o.d -o CMakeFiles/unittest_sba.dir/io_sba.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sba/io_sba.cpp"
-[ 85%] Building CXX object unit_test/sba/CMakeFiles/unittest_sba.dir/io_six_dof_expmap.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sba/CMakeFiles/unittest_sba.dir/io_six_dof_expmap.cpp.o -MF CMakeFiles/unittest_sba.dir/io_six_dof_expmap.cpp.o.d -o CMakeFiles/unittest_sba.dir/io_six_dof_expmap.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sba/io_six_dof_expmap.cpp"
-[ 85%] Linking CXX executable ../../bin/unittest_slam3d
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_slam3d.dir/link.txt --verbose=1
+[ 79%] Built target unittest_general
+[ 80%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_psi2uv.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_psi2uv.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_psi2uv.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_psi2uv.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_six_dof_expmap.h:38,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/sba/io_six_dof_expmap.cpp:29:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
-   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
-      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
-      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uv.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uv.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uv.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+[ 80%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_se3_expmap.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_se3_expmap.cpp.o -MF CMakeFiles/types_sba.dir/edge_se3_expmap.cpp.o.d -o CMakeFiles/types_sba.dir/edge_se3_expmap.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.cpp"
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uvu.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uvu.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz2uvu.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
@@ -5396,19 +5248,11 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -5422,37 +5266,10 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.cpp:27:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
 /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
    39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
@@ -5465,25 +5282,40 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+[ 81%] Linking CXX executable ../../bin/unittest_solver
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_solver.dir/link.txt --verbose=1
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_sba.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/sba/io_sba.cpp:29:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_solver.dir/link.d CMakeFiles/unittest_solver.dir/sparse_system_helper.cpp.o CMakeFiles/unittest_solver.dir/allocate_algorithm_test.cpp.o CMakeFiles/unittest_solver.dir/linear_solver_test.cpp.o -o ../../bin/unittest_solver  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_solver_dense.so.0.1.0 ../../lib/libg2o_solver_pcg.so.0.1.0 ../../lib/libg2o_solver_structure_only.so.0.1.0 ../../lib/libg2o_solver_slam2d_linear.so.0.1.0 ../../lib/libg2o_solver_cholmod.so.0.1.0 ../../lib/libg2o_solver_csparse.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_solver_eigen.so.0.1.0 ../../lib/libg2o_types_slam2d.so.0.1.0 ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_csparse_extension.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libcxsparse.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 81%] Built target unittest_solver
+[ 81%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_stereo_xyz.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_stereo_xyz.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_stereo_xyz.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_stereo_xyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.cpp"
+[ 82%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz_onlypose.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_xyz_onlypose.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_xyz_onlypose.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_xyz_onlypose.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.cpp"
+[ 82%] Building CXX object g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_stereo_xyz_onlypose.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/c++ -DUNIX -Dtypes_sba_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sba/CMakeFiles/types_sba.dir/edge_project_stereo_xyz_onlypose.cpp.o -MF CMakeFiles/types_sba.dir/edge_project_stereo_xyz_onlypose.cpp.o.d -o CMakeFiles/types_sba.dir/edge_project_stereo_xyz_onlypose.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.cpp"
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -5497,45 +5329,11 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -5551,236 +5349,23 @@
       |                             ^~~~~~~~~~~~
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_cam.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexCam, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_cam.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexCam, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexCam, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexCam, g2o::VertexCam>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<1, double, VertexCam, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexCam, g2o::VertexCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexCam, g2o::VertexCam>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<1, double, VertexCam, VertexCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_slam3d.dir/link.d CMakeFiles/unittest_slam3d.dir/io_slam3d.cpp.o CMakeFiles/unittest_slam3d.dir/jacobians_slam3d.cpp.o CMakeFiles/unittest_slam3d.dir/mappings_slam3d.cpp.o CMakeFiles/unittest_slam3d.dir/orthogonal_matrix.cpp.o CMakeFiles/unittest_slam3d.dir/optimization_slam3d.cpp.o -o ../../bin/unittest_slam3d  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_slam3d.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 85%] Built target unittest_slam3d
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:104:14:   required from here
-  104 |     : public BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 7; E = g2o::Sim3; VertexTypes = {g2o::VertexSim3Expmap, g2o::VertexSim3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:141:14:   required from here
-  141 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSim3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSim3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::EdgeGICP, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::EdgeGICP, g2o::VertexSE3, g2o::VertexSE3>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.h:144:14:   required from here
-  144 |     : public BaseBinaryEdge<3, EdgeGICP, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::EdgeGICP; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSCam>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSCam>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.h:342:14:   required from here
-  342 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSCam> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSCam}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 86%] Linking CXX executable ../../bin/unittest_general
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_general.dir/link.txt --verbose=1
-[ 87%] Linking CXX shared library ../../../lib/libg2o_types_slam3d_addons.so
+[ 83%] Linking CXX shared library ../../../lib/libg2o_types_slam3d_addons.so
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_slam3d_addons.dir/link.txt --verbose=1
 /usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
@@ -5790,51 +5375,59 @@
 /lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_general.dir/link.d CMakeFiles/unittest_general.dir/allocate_optimizer.cpp.o CMakeFiles/unittest_general.dir/auto_diff.cpp.o CMakeFiles/unittest_general.dir/batch_statistics.cpp.o CMakeFiles/unittest_general.dir/graph_operations.cpp.o CMakeFiles/unittest_general.dir/clear_and_redo.cpp.o CMakeFiles/unittest_general.dir/base_fixed_sized_edge.cpp.o CMakeFiles/unittest_general.dir/robust_kernel_tests.cpp.o CMakeFiles/unittest_general.dir/sparse_block_matrix.cpp.o -o ../../bin/unittest_general  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_slam3d.so.0.1.0 ../../lib/libg2o_types_slam2d.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 87%] Built target unittest_general
 /usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_slam3d_addons.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_slam3d_addons.so.0.1 -o ../../../lib/libg2o_types_slam3d_addons.so.0.1.0 CMakeFiles/types_slam3d_addons.dir/vertex_se3_euler.cpp.o CMakeFiles/types_slam3d_addons.dir/edge_se3_euler.cpp.o CMakeFiles/types_slam3d_addons.dir/vertex_plane.cpp.o CMakeFiles/types_slam3d_addons.dir/edge_se3_plane_calib.cpp.o CMakeFiles/types_slam3d_addons.dir/line3d.cpp.o CMakeFiles/types_slam3d_addons.dir/vertex_line3d.cpp.o CMakeFiles/types_slam3d_addons.dir/edge_se3_line.cpp.o CMakeFiles/types_slam3d_addons.dir/edge_plane.cpp.o CMakeFiles/types_slam3d_addons.dir/edge_se3_calib.cpp.o CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_slam3d_addons.so.0.1.0 ../../../lib/libg2o_types_slam3d_addons.so.0.1 ../../../lib/libg2o_types_slam3d_addons.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 87%] Built target types_slam3d_addons
+[ 83%] Built target types_slam3d_addons
 make  -f unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/build.make unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/depend
 make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/DependInfo.cmake" "--color="
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/build.make unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/build
+make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/build
+make  -f unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/build.make unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/build
+[ 84%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_offset.cpp.o
+[ 85%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/pointsensorparameters.cpp.o
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 87%] Building CXX object unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/io_slam3d_addons.cpp.o
-[ 87%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/simulator.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d_addons" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/io_slam3d_addons.cpp.o -MF CMakeFiles/unittest_slam3d_addons.dir/io_slam3d_addons.cpp.o.d -o CMakeFiles/unittest_slam3d_addons.dir/io_slam3d_addons.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d_addons/io_slam3d_addons.cpp"
-[ 88%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/pointsensorparameters.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/simulator.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/simulator.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/simulator.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator.cpp"
-[ 88%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose2d.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/pointsensorparameters.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/pointsensorparameters.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/pointsensorparameters.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/pointsensorparameters.cpp"
-[ 88%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_odometry2d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose2d.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pose2d.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pose2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose2d.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_offset.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_offset.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy_offset.cpp"
+[ 85%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_bearing.cpp.o
+[ 85%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/simulator.cpp.o
+[ 85%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_odometry2d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_bearing.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_bearing.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_bearing.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy_bearing.cpp"
+[ 86%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose2d.cpp.o
+[ 86%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxy.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/simulator.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/simulator.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/simulator.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator.cpp"
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_odometry2d.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_odometry2d.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_odometry2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry2d.cpp"
-[ 89%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxy.cpp.o
-[ 89%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_bearing.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxy.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pointxy.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pointxy.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy.cpp"
-[ 90%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_offset.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_bearing.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_bearing.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_bearing.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy_bearing.cpp"
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_offset.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_offset.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy_offset.cpp"
-[ 90%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/simutils.cpp.o
+[ 86%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/simutils.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose2d.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pose2d.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pose2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose2d.cpp"
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/simutils.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/simutils.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/simutils.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simutils.cpp"
+[ 87%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_segment2d.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_segment2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d.cpp"
+[ 87%] Building CXX object unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/io_slam3d_addons.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d_addons" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/io_slam3d_addons.cpp.o -MF CMakeFiles/unittest_slam3d_addons.dir/io_slam3d_addons.cpp.o.d -o CMakeFiles/unittest_slam3d_addons.dir/io_slam3d_addons.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d_addons/io_slam3d_addons.cpp"
+[ 87%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_line.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_line.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_line.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_line.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_line.cpp"
+[ 87%] Linking CXX executable ../../bin/unittest_slam2d_addons
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d_addons" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_slam2d_addons.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_slam2d_addons.dir/link.d CMakeFiles/unittest_slam2d_addons.dir/io_slam2d_addons.cpp.o -o ../../bin/unittest_slam2d_addons  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_slam2d_addons.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_types_slam2d.so.0.1.0 ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 87%] Built target unittest_slam2d_addons
+[ 87%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_pointline.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_pointline.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_pointline.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_pointline.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_pointline.cpp"
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
                  from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator2d_base.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy.h:32,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy.cpp:27:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose2d.h:32,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose2d.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -5854,8 +5447,8 @@
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
                  from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator2d_base.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy_offset.h:32,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy_offset.cpp:27:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simutils.h:32,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simutils.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -5875,8 +5468,8 @@
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
                  from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator2d_base.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose2d.h:32,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose2d.cpp:27:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy_offset.h:32,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy_offset.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -5938,8 +5531,8 @@
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
                  from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator2d_base.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simutils.h:32,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simutils.cpp:27:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy.h:32,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxy.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -5985,35 +5578,25 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
-   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam3d_addons/io_slam3d_addons.cpp:29:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<2, Vector2, VertexPointXY, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
@@ -6042,30 +5625,38 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
-   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_line.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_line.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<2, Vector2, VertexPointXY, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
@@ -6081,17 +5672,22 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/slam3d_addons/io_slam3d_addons.cpp:29:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
@@ -6107,6 +5703,32 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
+   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
+   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -6133,19 +5755,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -6156,6 +5765,9 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -6169,9 +5781,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -6195,6 +5804,61 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
+   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -6208,9 +5872,45 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.h:41:14:   required from here
+   41 |     : public BaseUnaryEdge<2, Vector2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -6224,6 +5924,20 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
+   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+[ 88%] Linking CXX shared library ../../../lib/libg2o_types_sba.so
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -6237,6 +5951,7 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_sba.dir/link.txt --verbose=1
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -6276,6 +5991,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -6289,19 +6017,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
-   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -6315,30 +6030,30 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
+   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
+   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
@@ -6369,6 +6084,27 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -6382,6 +6118,21 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -6395,6 +6146,47 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -6421,18 +6213,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<2, Line2D, VertexLine2D, VertexLine2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -6448,32 +6241,49 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d_pointxy.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<1, double, VertexLine2D,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   41 |                             VertexPointXY>  // Avoid redefinition of BaseEdge in
+      |                             ~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexLine2D, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -6487,7 +6297,25 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_pointline.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_pointline.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<2, Vector2, VertexPointXY, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
@@ -6505,19 +6333,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -6531,19 +6346,17 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
@@ -6589,43 +6402,58 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.h:41:14:   required from here
-   41 |     : public BaseUnaryEdge<2, Vector2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
-   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
@@ -6641,60 +6469,43 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<2, Line2D, VertexLine2D, VertexLine2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d_pointxy.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<1, double, VertexLine2D,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   41 |                             VertexPointXY>  // Avoid redefinition of BaseEdge in
-      |                             ~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexLine2D, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
@@ -6710,6 +6521,32 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.h:41:14:   required from here
+   41 |     : public BaseUnaryEdge<2, Vector2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -6753,6 +6590,34 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
+   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -6809,6 +6674,73 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<2, Line2D, VertexLine2D, VertexLine2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d_pointxy.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<1, double, VertexLine2D,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   41 |                             VertexPointXY>  // Avoid redefinition of BaseEdge in
+      |                             ~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexLine2D, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -6822,16 +6754,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -6845,20 +6780,17 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
@@ -6889,21 +6821,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -6945,84 +6862,129 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.h:41:14:   required from here
+   41 |     : public BaseUnaryEdge<2, Vector2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
+   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
    40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
       |                             ~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
@@ -7038,16 +7000,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -7061,7 +7026,45 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d_pointxy.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<1, double, VertexLine2D,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   41 |                             VertexPointXY>  // Avoid redefinition of BaseEdge in
+      |                             ~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexLine2D, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<2, Line2D, VertexLine2D, VertexLine2D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
@@ -7118,6 +7121,32 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
+   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -7196,56 +7225,30 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
@@ -7274,43 +7277,43 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
@@ -7326,6 +7329,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -7339,17 +7355,32 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -7363,6 +7394,32 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -7389,6 +7446,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -7402,30 +7472,17 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
@@ -7467,6 +7524,32 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.h:41:14:   required from here
+   41 |     : public BaseUnaryEdge<2, Vector2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
+   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -7541,163 +7624,63 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-[ 91%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_segment2d.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_segment2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d.cpp"
-[ 91%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_line.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_line.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_line.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_line.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_line.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<2, Vector2, VertexPointXY, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-[ 91%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_pointline.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_pointline.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_pointline.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_pointline.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_pointline.cpp"
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
-   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_sba.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_sba.so.0.1 -o ../../../lib/libg2o_types_sba.so.0.1.0 CMakeFiles/types_sba.dir/types_sba.cpp.o CMakeFiles/types_sba.dir/types_six_dof_expmap.cpp.o CMakeFiles/types_sba.dir/vertex_intrinsics.cpp.o CMakeFiles/types_sba.dir/vertex_cam.cpp.o CMakeFiles/types_sba.dir/edge_sba_cam.cpp.o CMakeFiles/types_sba.dir/edge_sba_scale.cpp.o CMakeFiles/types_sba.dir/edge_project_p2mc.cpp.o CMakeFiles/types_sba.dir/edge_project_p2sc.cpp.o CMakeFiles/types_sba.dir/sbacam.cpp.o CMakeFiles/types_sba.dir/parameter_cameraparameters.cpp.o CMakeFiles/types_sba.dir/vertex_se3_expmap.cpp.o CMakeFiles/types_sba.dir/edge_project_xyz2uv.cpp.o CMakeFiles/types_sba.dir/edge_project_xyz2uvu.cpp.o CMakeFiles/types_sba.dir/edge_project_xyz.cpp.o CMakeFiles/types_sba.dir/edge_project_psi2uv.cpp.o CMakeFiles/types_sba.dir/edge_se3_expmap.cpp.o CMakeFiles/types_sba.dir/edge_project_stereo_xyz.cpp.o CMakeFiles/types_sba.dir/edge_project_xyz_onlypose.cpp.o CMakeFiles/types_sba.dir/edge_project_stereo_xyz_onlypose.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt ../../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_sba.so.0.1.0 ../../../lib/libg2o_types_sba.so.0.1 ../../../lib/libg2o_types_sba.so
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
+      |                             ~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.h:41:14:   required from here
-   41 |     : public BaseUnaryEdge<2, Vector2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
-   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 92%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_odometry3d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_odometry3d.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_odometry3d.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_odometry3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry3d.cpp"
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 92%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose3d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose3d.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pose3d.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pose3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d.cpp"
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+[ 88%] Built target types_sba
+make  -f g2o/types/sim3/CMakeFiles/types_sim3.dir/build.make g2o/types/sim3/CMakeFiles/types_sim3.dir/depend
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -7713,6 +7696,8 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3/CMakeFiles/types_sim3.dir/DependInfo.cmake" "--color="
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -7726,6 +7711,9 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/types/sim3/CMakeFiles/types_sim3.dir/build.make g2o/types/sim3/CMakeFiles/types_sim3.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -7739,6 +7727,8 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+[ 89%] Building CXX object g2o/types/sim3/CMakeFiles/types_sim3.dir/types_seven_dof_expmap.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3" && /usr/bin/c++ -DUNIX -Dtypes_sim3_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/sim3/CMakeFiles/types_sim3.dir/types_seven_dof_expmap.cpp.o -MF CMakeFiles/types_sim3.dir/types_seven_dof_expmap.cpp.o.d -o CMakeFiles/types_sim3.dir/types_seven_dof_expmap.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.cpp"
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -7754,100 +7744,30 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexLine2D, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_line.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_line.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<2, Vector2, VertexPointXY, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-[ 93%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose3d_offset.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose3d_offset.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pose3d_offset.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pose3d_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d_offset.cpp"
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
-   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/types_slam2d.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/types_slam2d_addons.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_pointline.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_pointline.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_pointxy.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<2, Vector2, VertexPointXY, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
@@ -7863,19 +7783,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -7915,176 +7822,165 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.h:41:14:   required from here
-   41 |     : public BaseUnaryEdge<2, Vector2, VertexSE2> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
-   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<2, Line2D, VertexLine2D, VertexLine2D> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d_pointxy.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<1, double, VertexLine2D,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   41 |                             VertexPointXY>  // Avoid redefinition of BaseEdge in
-      |                             ~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-[ 93%] Linking CXX shared library ../../../lib/libg2o_types_icp.so
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexLine2D, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_icp.dir/link.txt --verbose=1
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
-   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
@@ -8098,216 +7994,220 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
+In file included from /usr/include/eigen3/Eigen/Geometry:41,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
+   85 |     ret._R = _R.inverse();
+      |              ~~~~~~~~~~^~
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
+   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
+      |                                       ^~~~~~~
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d_base.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry3d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry3d.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexSE2, g2o::VertexPointXY>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_pointxy_bearing.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
+   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
+      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
+      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexSE2, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d_base.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, g2o::SE2, g2o::VertexSE2>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_prior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, SE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_icp.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_icp.so.0.1 -o ../../../lib/libg2o_types_icp.so.0.1.0 CMakeFiles/types_icp.dir/types_icp.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_sba.so.0.1.0 ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_icp.so.0.1.0 ../../../lib/libg2o_types_icp.so.0.1 ../../../lib/libg2o_types_icp.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 93%] Built target types_icp
-[ 93%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz.cpp"
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2_xyprior.h:41:14:   required from here
-   41 |     : public BaseUnaryEdge<2, Vector2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_xy_prior.h:38:14:   required from here
-   38 |     : public BaseUnaryEdge<2, Vector2, VertexPointXY> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<4, Vector4, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_line.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexSE2,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                             VertexSegment2D>  // Avoid redefinition of BaseEdge
-      |                             ~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:104:14:   required from here
+  104 |     : public BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 7; E = g2o::Sim3; VertexTypes = {g2o::VertexSim3Expmap, g2o::VertexSim3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE2, g2o::VertexSegment2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:141:14:   required from here
+  141 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSim3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE2, g2o::VertexSegment2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSim3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+make  -f unit_test/sba/CMakeFiles/unittest_sba.dir/build.make unit_test/sba/CMakeFiles/unittest_sba.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba/CMakeFiles/unittest_sba.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/sba/CMakeFiles/unittest_sba.dir/build.make unit_test/sba/CMakeFiles/unittest_sba.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 89%] Building CXX object unit_test/sba/CMakeFiles/unittest_sba.dir/io_sba.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sba/CMakeFiles/unittest_sba.dir/io_sba.cpp.o -MF CMakeFiles/unittest_sba.dir/io_sba.cpp.o.d -o CMakeFiles/unittest_sba.dir/io_sba.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sba/io_sba.cpp"
+make  -f g2o/types/icp/CMakeFiles/types_icp.dir/build.make g2o/types/icp/CMakeFiles/types_icp.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/icp" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp/CMakeFiles/types_icp.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/types/icp/CMakeFiles/types_icp.dir/build.make g2o/types/icp/CMakeFiles/types_icp.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 90%] Building CXX object g2o/types/icp/CMakeFiles/types_icp.dir/types_icp.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp" && /usr/bin/c++ -DUNIX -Dtypes_icp_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/icp" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/types/icp/CMakeFiles/types_icp.dir/types_icp.cpp.o -MF CMakeFiles/types_icp.dir/types_icp.cpp.o.d -o CMakeFiles/types_icp.dir/types_icp.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.cpp"
+[ 91%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_odometry3d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_odometry3d.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_odometry3d.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_odometry3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry3d.cpp"
+[ 92%] Building CXX object unit_test/sba/CMakeFiles/unittest_sba.dir/io_six_dof_expmap.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sba/CMakeFiles/unittest_sba.dir/io_six_dof_expmap.cpp.o -MF CMakeFiles/unittest_sba.dir/io_six_dof_expmap.cpp.o.d -o CMakeFiles/unittest_sba.dir/io_six_dof_expmap.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sba/io_six_dof_expmap.cpp"
+[ 92%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose3d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose3d.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pose3d.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pose3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d.cpp"
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_sba.h:34,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/sba/io_sba.cpp:29:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexLine2D, g2o::VertexLine2D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<2, Line2D, VertexLine2D, VertexLine2D> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexCam> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexLine2D, g2o::VertexLine2D}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexLine2D, g2o::VertexPointXY>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_line2d_pointxy.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<1, double, VertexLine2D,
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   41 |                             VertexPointXY>  // Avoid redefinition of BaseEdge in
-      |                             ~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_cam.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexCam, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexLine2D, g2o::VertexPointXY}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, g2o::Line2D, g2o::VertexSE2, g2o::VertexLine2D>'
+[ 93%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose3d_offset.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pose3d_offset.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pose3d_offset.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pose3d_offset.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d_offset.cpp"
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexCam, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexCam, g2o::VertexCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons/edge_se2_line2d.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<1, double, VertexCam, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+[ 93%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz.cpp"
 [ 94%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_disparity.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_disparity.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_disparity.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_disparity.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz_disparity.cpp"
+[ 94%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_depth.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_depth.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_depth.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_depth.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz_depth.cpp"
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d_base.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry3d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry3d.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -8318,59 +8218,64 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexCam> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexCam>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexCam, g2o::VertexCam>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_cam.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexCam, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<1, double, g2o::VertexCam, g2o::VertexCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<1, double, g2o::VertexCam, g2o::VertexCam>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_sba_scale.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<1, double, VertexCam, VertexCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 1; E = double; VertexTypes = {g2o::VertexCam, g2o::VertexCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
@@ -8378,8 +8283,8 @@
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d_base.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d_offset.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d_offset.cpp:27:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -8393,17 +8298,17 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
@@ -8432,56 +8337,24 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d_base.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d_offset.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pose3d_offset.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
@@ -8523,6 +8396,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::EdgeGICP, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::EdgeGICP, g2o::VertexSE3, g2o::VertexSE3>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.h:144:14:   required from here
+  144 |     : public BaseBinaryEdge<3, EdgeGICP, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::EdgeGICP; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -8536,30 +8422,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSCam>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSCam>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.h:342:14:   required from here
+  342 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSCam> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSCam}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -8612,118 +8487,106 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d_base.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 94%] Linking CXX shared library ../../../lib/libg2o_types_sim3.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_sim3.dir/link.txt --verbose=1
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sba/types_six_dof_expmap.h:38,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/sba/io_six_dof_expmap.cpp:29:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
+   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
+      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
+      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
@@ -8731,8 +8594,8 @@
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d_base.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz.cpp:27:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz_disparity.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz_disparity.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -8746,37 +8609,13 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /usr/include/eigen3/Eigen/Geometry:41,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:39:
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h: In instantiation of 'Eigen::Rotation2D<Scalar> Eigen::Rotation2D<Scalar>::inverse() const [with _Scalar = double]':
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/se2.h:85:24:   required from here
-   85 |     ret._R = _R.inverse();
-      |              ~~~~~~~~~~^~
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
-   98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-      |                                       ^~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
                  from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d_base.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz_disparity.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz_disparity.cpp:27:
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz_depth.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz_depth.cpp:27:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -8790,29 +8629,17 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_sim3.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_sim3.so.0.1 -o ../../../lib/libg2o_types_sim3.so.0.1.0 CMakeFiles/types_sim3.dir/types_seven_dof_expmap.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_sba.so.0.1.0 ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt ../../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_sim3.so.0.1.0 ../../../lib/libg2o_types_sim3.so.0.1 ../../../lib/libg2o_types_sim3.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 94%] Built target types_sim3
-make  -f unit_test/sim3/CMakeFiles/unittest_sim3.dir/build.make unit_test/sim3/CMakeFiles/unittest_sim3.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3/CMakeFiles/unittest_sim3.dir/DependInfo.cmake" "--color="
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/sim3/CMakeFiles/unittest_sim3.dir/build.make unit_test/sim3/CMakeFiles/unittest_sim3.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 95%] Building CXX object unit_test/sim3/CMakeFiles/unittest_sim3.dir/allocate_sim3.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sim3/CMakeFiles/unittest_sim3.dir/allocate_sim3.cpp.o -MF CMakeFiles/unittest_sim3.dir/allocate_sim3.cpp.o.d -o CMakeFiles/unittest_sim3.dir/allocate_sim3.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sim3/allocate_sim3.cpp"
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
@@ -8841,6 +8668,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -8864,6 +8704,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
@@ -8893,34 +8746,8 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 95%] Building CXX object unit_test/sim3/CMakeFiles/unittest_sim3.dir/io_sim3.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sim3/CMakeFiles/unittest_sim3.dir/io_sim3.cpp.o -MF CMakeFiles/unittest_sim3.dir/io_sim3.cpp.o.d -o CMakeFiles/unittest_sim3.dir/io_sim3.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sim3/io_sim3.cpp"
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
+[ 94%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_se3_prior.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_se3_prior.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_se3_prior.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_se3_prior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_se3_prior.cpp"
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
@@ -8973,298 +8800,238 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/sim3/allocate_sim3.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
-   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
-      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
-      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:104:14:   required from here
-  104 |     : public BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 7; E = g2o::Sim3; VertexTypes = {g2o::VertexSim3Expmap, g2o::VertexSim3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:141:14:   required from here
-  141 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSim3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSim3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/sim3/io_sim3.cpp:29:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
-   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
-      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
-      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
    37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
       |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:104:14:   required from here
-  104 |     : public BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 7; E = g2o::Sim3; VertexTypes = {g2o::VertexSim3Expmap, g2o::VertexSim3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:141:14:   required from here
-  141 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSim3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSim3Expmap}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 95%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_depth.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_depth.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_depth.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_depth.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz_depth.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d_base.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz_depth.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz_depth.cpp:27:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 95%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_se3_prior.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -Dg2o_simulator_library_EXPORTS -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -fPIC -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/sensor_se3_prior.cpp.o -MF CMakeFiles/g2o_simulator_library.dir/sensor_se3_prior.cpp.o.d -o CMakeFiles/g2o_simulator_library.dir/sensor_se3_prior.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_se3_prior.cpp"
-[ 95%] Building CXX object unit_test/sim3/CMakeFiles/unittest_sim3.dir/jacobians_sim3.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sim3/CMakeFiles/unittest_sim3.dir/jacobians_sim3.cpp.o -MF CMakeFiles/unittest_sim3.dir/jacobians_sim3.cpp.o.d -o CMakeFiles/unittest_sim3.dir/jacobians_sim3.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sim3/jacobians_sim3.cpp"
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
       |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
@@ -9319,8 +9086,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 95%] Linking CXX executable ../../bin/unittest_sba
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_sba.dir/link.txt --verbose=1
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -9354,9 +9132,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_sba.dir/link.d CMakeFiles/unittest_sba.dir/io_sba.cpp.o CMakeFiles/unittest_sba.dir/io_six_dof_expmap.cpp.o -o ../../bin/unittest_sba  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_sba.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_types_slam3d.so.0.1.0 ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 95%] Built target unittest_sba
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -9435,87 +9210,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/unit_test/sim3/jacobians_sim3.cpp:28:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
-   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
-      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
-      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/unit_test/sim3/jacobians_sim3.cpp:29:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
-   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
-   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -9529,33 +9223,7 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:104:14:   required from here
-  104 |     : public BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 7; E = g2o::Sim3; VertexTypes = {g2o::VertexSim3Expmap, g2o::VertexSim3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:141:14:   required from here
-  141 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSim3Expmap> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSim3Expmap}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-[ 96%] Linking CXX shared library ../../../lib/libg2o_simulator.so
+[ 95%] Linking CXX shared library ../../../lib/libg2o_simulator.so
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/cmake -E cmake_link_script CMakeFiles/g2o_simulator_library.dir/link.txt --verbose=1
 /usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 /usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
@@ -9568,7 +9236,7 @@
 /usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/g2o_simulator_library.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_simulator.so.0.1 -o ../../../lib/libg2o_simulator.so.0.1.0 CMakeFiles/g2o_simulator_library.dir/simulator.cpp.o CMakeFiles/g2o_simulator_library.dir/pointsensorparameters.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_odometry2d.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_pose2d.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_pointxy.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_bearing.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_pointxy_offset.cpp.o CMakeFiles/g2o_simulator_library.dir/simutils.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_segment2d.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_line.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_segment2d_pointline.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_odometry3d.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_pose3d.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_pose3d_offset.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_disparity.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_pointxyz_depth.cpp.o CMakeFiles/g2o_simulator_library.dir/sensor_se3_prior.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_slam3d_addons.so.0.1.0 ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_types_slam2d_addons.so.0.1.0 ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt ../../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_simulator.so.0.1.0 ../../../lib/libg2o_simulator.so.0.1 ../../../lib/libg2o_simulator.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 96%] Built target g2o_simulator_library
+[ 95%] Built target g2o_simulator_library
 make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/depend
 make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
@@ -9576,35 +9244,25 @@
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/DependInfo.cmake" "--color="
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 96%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/test_simulator2d.cpp.o
-[ 96%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/test_simulator3d.cpp.o
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/test_simulator3d.cpp.o -MF CMakeFiles/g2o_simulator3d_application.dir/test_simulator3d.cpp.o.d -o CMakeFiles/g2o_simulator3d_application.dir/test_simulator3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/test_simulator3d.cpp"
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build
+[ 95%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/test_simulator2d.cpp.o
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/test_simulator2d.cpp.o -MF CMakeFiles/g2o_simulator2d_application.dir/test_simulator2d.cpp.o.d -o CMakeFiles/g2o_simulator2d_application.dir/test_simulator2d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/test_simulator2d.cpp"
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/test_simulator3d.cpp:31:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
-   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
-      |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d_base.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry3d.h:31,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d.h:30,
-                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/test_simulator3d.cpp:34:
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 95%] Building CXX object g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/test_simulator3d.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/test_simulator3d.cpp.o -MF CMakeFiles/g2o_simulator3d_application.dir/test_simulator3d.cpp.o.d -o CMakeFiles/g2o_simulator3d_application.dir/test_simulator3d.cpp.o -c "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/test_simulator3d.cpp"
+[ 95%] Linking CXX shared library ../../../lib/libg2o_types_sim3.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_sim3.dir/link.txt --verbose=1
+/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
 In file included from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/test_simulator2d.cpp:32:
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXY, g2o::VertexPointXY>'
@@ -9626,32 +9284,55 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY, g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/test_simulator3d.cpp:31:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
-   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/types_slam3d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d_base.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry3d.h:31,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator3d.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/test_simulator3d.cpp:34:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, g2o::SE2, g2o::VertexSE2, g2o::VertexSE2>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
-   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/edge_se2.h:41:14:   required from here
+   41 |     : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = g2o::SE2; VertexTypes = {g2o::VertexSE2, g2o::VertexSE2}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_sim3.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_sim3.so.0.1 -o ../../../lib/libg2o_types_sim3.so.0.1.0 CMakeFiles/types_sim3.dir/types_seven_dof_expmap.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_sba.so.0.1.0 ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt ../../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_sim3.so.0.1.0 ../../../lib/libg2o_types_sim3.so.0.1 ../../../lib/libg2o_types_sim3.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 95%] Built target types_sim3
+make  -f unit_test/sim3/CMakeFiles/unittest_sim3.dir/build.make unit_test/sim3/CMakeFiles/unittest_sim3.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3/CMakeFiles/unittest_sim3.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/sim3/CMakeFiles/unittest_sim3.dir/build.make unit_test/sim3/CMakeFiles/unittest_sim3.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 96%] Building CXX object unit_test/sim3/CMakeFiles/unittest_sim3.dir/io_sim3.cpp.o
+[ 96%] Building CXX object unit_test/sim3/CMakeFiles/unittest_sim3.dir/allocate_sim3.cpp.o
+[ 96%] Building CXX object unit_test/sim3/CMakeFiles/unittest_sim3.dir/jacobians_sim3.cpp.o
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sim3/CMakeFiles/unittest_sim3.dir/io_sim3.cpp.o -MF CMakeFiles/unittest_sim3.dir/io_sim3.cpp.o.d -o CMakeFiles/unittest_sim3.dir/io_sim3.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sim3/io_sim3.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sim3/CMakeFiles/unittest_sim3.dir/allocate_sim3.cpp.o -MF CMakeFiles/unittest_sim3.dir/allocate_sim3.cpp.o.d -o CMakeFiles/unittest_sim3.dir/allocate_sim3.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sim3/allocate_sim3.cpp"
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" && /usr/bin/c++ -DUNIX -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/sba" -I"/build/reproducible-path/g2o-0~20230806" -I"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" -I"/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" -isystem /usr/include/eigen3 -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -MD -MT unit_test/sim3/CMakeFiles/unittest_sim3.dir/jacobians_sim3.cpp.o -MF CMakeFiles/unittest_sim3.dir/jacobians_sim3.cpp.o.d -o CMakeFiles/unittest_sim3.dir/jacobians_sim3.cpp.o -c "/build/reproducible-path/g2o-0~20230806/unit_test/sim3/jacobians_sim3.cpp"
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE2, g2o::VertexPointXY>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -9717,56 +9398,17 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXY}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
-   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
-   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
-  522 |     virtual Vertex* createVertex(int) { return nullptr; }
-      |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
-  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
-      |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
-   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
-      |       ^~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
-   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h:44:14:   required from here
+   44 |     : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexSE2, g2o::VertexSegment2D>':
@@ -9853,43 +9495,82 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = g2o::Line2D; VertexTypes = {g2o::VertexSE2, g2o::VertexLine2D}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexPointXYZ>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_pointxyz.h:38:14:   required from here
-   38 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz.h:43:14:   required from here
+   43 |     : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexPointXYZ}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_xyzprior.h:40:14:   required from here
+   40 |     : public BaseUnaryEdge<3, Vector3, VertexSE3> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_xyz_prior.h:43:14:   required from here
+   43 |     : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, Eigen::Matrix<double, 4, 1>, g2o::VertexPlane, g2o::VertexPlane>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
       |       ^~~~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
-   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
-      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_plane.h:38:14:   required from here
+   38 |     : public BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
   522 |     virtual Vertex* createVertex(int) { return nullptr; }
       |                     ^~~~~~~~~~~~
-/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = Eigen::Matrix<double, 4, 1>; VertexTypes = {g2o::VertexPlane, g2o::VertexPlane}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, Eigen::Transform<double, 3, 1>, g2o::VertexSE3, g2o::VertexSE3>':
@@ -9905,6 +9586,19 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = Eigen::Transform<double, 3, 1>; VertexTypes = {g2o::VertexSE3, g2o::VertexSE3}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<4, g2o::Line3D, g2o::VertexSE3, g2o::VertexLine3D>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_line.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<4, Line3D, VertexSE3, VertexLine3D> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 4; E = g2o::Line3D; VertexTypes = {g2o::VertexSE3, g2o::VertexLine3D}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>':
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3, g2o::VertexPointXYZ>'
    37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
@@ -9957,8 +9651,6 @@
 /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ}]'
   220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
       |                             ^~~~~~~~~~~~
-[ 97%] Linking CXX executable ../../bin/unittest_slam3d_addons
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d_addons" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_slam3d_addons.dir/link.txt --verbose=1
 In file included from /usr/include/eigen3/Eigen/Geometry:41,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/eigen_types.h:31,
                  from /build/reproducible-path/g2o-0~20230806/g2o/core/jacobian_workspace.h:34,
@@ -9970,24 +9662,368 @@
 /usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h:98:39: note: parameter passing for argument of type 'Eigen::Rotation2D<double>' when C++17 is enabled changed to match C++14 in GCC 10.1
    98 |   EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
       |                                       ^~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/unit_test/sim3/jacobians_sim3.cpp:28:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
+   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
+      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
+      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/sim3/jacobians_sim3.cpp:29:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/sim3/allocate_sim3.cpp:27:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
+   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
+      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
+      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+In file included from /build/reproducible-path/g2o-0~20230806/g2o/core/base_edge.h:36,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:35,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:30,
+                 from /build/reproducible-path/g2o-0~20230806/unit_test/sim3/io_sim3.cpp:29:
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_psi2uv.h:39:19:   required from here
+   39 |     : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
+      |                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   40 |                                      VertexSE3Expmap, VertexSE3Expmap> {
+      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSE3Expmap>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_stereo_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz.h:39:14:   required from here
+   39 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_unary_edge.h:37:7:   required from 'class g2o::BaseUnaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSE3Expmap>'
+   37 | class BaseUnaryEdge : public BaseFixedSizedEdge<D, E, VertexXi> {
+      |       ^~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_xyz_onlypose.h:39:14:   required from here
+   39 |     : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_se3_expmap.h:40:14:   required from here
+   40 |     : public BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 6; E = g2o::SE3Quat; VertexTypes = {g2o::VertexSE3Expmap, g2o::VertexSE3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:104:14:   required from here
+  104 |     : public BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 7; E = g2o::Sim3; VertexTypes = {g2o::VertexSim3Expmap, g2o::VertexSim3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:104:14:   required from here
+  104 |     : public BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 7; E = g2o::Sim3; VertexTypes = {g2o::VertexSim3Expmap, g2o::VertexSim3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:141:14:   required from here
+  141 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSim3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSim3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:141:14:   required from here
+  141 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSim3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSim3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:104:14:   required from here
+  104 |     : public BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 7; E = g2o::Sim3; VertexTypes = {g2o::VertexSim3Expmap, g2o::VertexSim3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h: In instantiation of 'class g2o::BaseFixedSizedEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>':
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_binary_edge.h:37:7:   required from 'class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexPointXYZ, g2o::VertexSim3Expmap>'
+   37 | class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
+      |       ^~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h:141:14:   required from here
+  141 |     : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSim3Expmap> {
+      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/optimizable_graph.h:522:21: warning: 'virtual g2o::OptimizableGraph::Vertex* g2o::OptimizableGraph::Edge::createVertex(int)' was hidden [-Woverloaded-virtual=]
+  522 |     virtual Vertex* createVertex(int) { return nullptr; }
+      |                     ^~~~~~~~~~~~
+/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h:220:29: note:   by 'g2o::OptimizableGraph::Vertex* g2o::BaseFixedSizedEdge<D, E, VertexTypes>::createVertex(int, CtorArgs ...) [with CtorArgs = {CtorArgs ...}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {g2o::VertexPointXYZ, g2o::VertexSim3Expmap}]'
+  220 |   OptimizableGraph::Vertex* createVertex(int i, CtorArgs... args) {
+      |                             ^~~~~~~~~~~~
+[ 96%] Linking CXX shared library ../../../lib/libg2o_types_icp.so
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp" && /usr/bin/cmake -E cmake_link_script CMakeFiles/types_icp.dir/link.txt --verbose=1
+/usr/lib/aarch64-linux-gnu/libGLU.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libGLX.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/aarch64-linux-gnu/libOpenGL.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/lib/gcc/aarch64-linux-gnu/15/libstdc++.so: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libm.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libmvec.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/aarch64-linux-gnu/libc.so.6: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/lib/ld-linux-aarch64.so.1: warning: GCS is required by -z gcs, but this shared library lacks the necessary property note. The dynamic loader might not enable GCS or refuse to load the program unless all the shared library dependencies have the GCS marking.
+/usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,--dependency-file=CMakeFiles/types_icp.dir/link.d -Wl,-z,relro -shared -Wl,-soname,libg2o_types_icp.so.0.1 -o ../../../lib/libg2o_types_icp.so.0.1.0 CMakeFiles/types_icp.dir/types_icp.cpp.o  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_types_sba.so.0.1.0 ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp" && /usr/bin/cmake -E cmake_symlink_library ../../../lib/libg2o_types_icp.so.0.1.0 ../../../lib/libg2o_types_icp.so.0.1 ../../../lib/libg2o_types_icp.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 96%] Built target types_icp
+[ 97%] Linking CXX executable ../../bin/unittest_slam3d_addons
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d_addons" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_slam3d_addons.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_slam3d_addons.dir/link.d CMakeFiles/unittest_slam3d_addons.dir/io_slam3d_addons.cpp.o -o ../../bin/unittest_slam3d_addons  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_slam3d_addons.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_types_slam3d.so.0.1.0 ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 [ 97%] Built target unittest_slam3d_addons
-[ 98%] Linking CXX executable ../../bin/unittest_sim3
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_sim3.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_sim3.dir/link.d CMakeFiles/unittest_sim3.dir/allocate_sim3.cpp.o CMakeFiles/unittest_sim3.dir/io_sim3.cpp.o CMakeFiles/unittest_sim3.dir/jacobians_sim3.cpp.o -o ../../bin/unittest_sim3  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_sim3.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_types_sba.so.0.1.0 ../../lib/libg2o_types_slam3d.so.0.1.0 ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+[ 97%] Linking CXX executable ../../bin/unittest_sba
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_sba.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_sba.dir/link.d CMakeFiles/unittest_sba.dir/io_sba.cpp.o CMakeFiles/unittest_sba.dir/io_six_dof_expmap.cpp.o -o ../../bin/unittest_sba  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_sba.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_types_slam3d.so.0.1.0 ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 98%] Built target unittest_sim3
-[ 99%] Linking CXX executable ../../../bin/g2o_simulator2d
+[ 97%] Built target unittest_sba
+[ 98%] Linking CXX executable ../../../bin/g2o_simulator2d
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/cmake -E cmake_link_script CMakeFiles/g2o_simulator2d_application.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/g2o_simulator2d_application.dir/link.d CMakeFiles/g2o_simulator2d_application.dir/test_simulator2d.cpp.o -o ../../../bin/g2o_simulator2d  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_simulator.so.0.1.0 ../../../lib/libg2o_types_slam2d_addons.so.0.1.0 ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_types_slam3d_addons.so.0.1.0 ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_stuff.so.0.1.0 -lrt ../../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 99%] Built target g2o_simulator2d_application
-[100%] Linking CXX executable ../../../bin/g2o_simulator3d
+[ 98%] Built target g2o_simulator2d_application
+[ 99%] Linking CXX executable ../../../bin/g2o_simulator3d
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" && /usr/bin/cmake -E cmake_link_script CMakeFiles/g2o_simulator3d_application.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/g2o_simulator3d_application.dir/link.d CMakeFiles/g2o_simulator3d_application.dir/test_simulator3d.cpp.o -o ../../../bin/g2o_simulator3d  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib:" ../../../lib/libg2o_simulator.so.0.1.0 ../../../lib/libg2o_types_slam3d_addons.so.0.1.0 ../../../lib/libg2o_types_slam3d.so.0.1.0 ../../../lib/libg2o_types_slam2d_addons.so.0.1.0 ../../../lib/libg2o_types_slam2d.so.0.1.0 ../../../lib/libg2o_core.so.0.1.0 ../../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so ../../../lib/libg2o_stuff.so.0.1.0 -lrt
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[100%] Built target g2o_simulator3d_application
+[ 99%] Built target g2o_simulator3d_application
+[100%] Linking CXX executable ../../bin/unittest_sim3
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" && /usr/bin/cmake -E cmake_link_script CMakeFiles/unittest_sim3.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/g2o-0~20230806=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -mbranch-protection=standard -Wdate-time -D_FORTIFY_SOURCE=2  -Wall -W -O2 -g -DNDEBUG -Wl,-z,relro -Wl,--dependency-file=CMakeFiles/unittest_sim3.dir/link.d CMakeFiles/unittest_sim3.dir/allocate_sim3.cpp.o CMakeFiles/unittest_sim3.dir/io_sim3.cpp.o CMakeFiles/unittest_sim3.dir/jacobians_sim3.cpp.o -o ../../bin/unittest_sim3  -Wl,-rpath,"/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/lib" ../../lib/libg2o_types_sim3.so.0.1.0 -lgtest -lgmock -lgtest_main ../../lib/libg2o_types_sba.so.0.1.0 ../../lib/libg2o_types_slam3d.so.0.1.0 ../../lib/libg2o_core.so.0.1.0 ../../lib/libg2o_stuff.so.0.1.0 -lrt ../../lib/libg2o_opengl_helper.so.0.1.0 /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGLX.so /usr/lib/aarch64-linux-gnu/libOpenGL.so
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[100%] Built target unittest_sim3
 make[3]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 /usr/bin/cmake -E cmake_progress_start "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/CMakeFiles" 0
 make[2]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
@@ -10413,7 +10449,7 @@
 -dist/fonts/type1/public/amsfonts/cm/cmtt10.pfb></usr/share/texlive/texmf-dist/
 fonts/type1/public/amsfonts/cm/cmtt12.pfb></usr/share/texlive/texmf-dist/fonts/
 type1/public/amsfonts/symbols/msam10.pfb>
-Output written on g2o.pdf (18 pages, 596233 bytes).
+Output written on g2o.pdf (18 pages, 596154 bytes).
 Transcript written on g2o.log.
 bibtex g2o
 This is BibTeX, Version 0.99d (TeX Live 2025/Debian)
@@ -10587,7 +10623,7 @@
 onts/type1/public/amsfonts/cm/cmtt10.pfb></usr/share/texlive/texmf-dist/fonts/t
 ype1/public/amsfonts/cm/cmtt12.pfb></usr/share/texlive/texmf-dist/fonts/type1/p
 ublic/amsfonts/symbols/msam10.pfb>
-Output written on g2o.pdf (19 pages, 621387 bytes).
+Output written on g2o.pdf (19 pages, 621313 bytes).
 Transcript written on g2o.log.
 pdflatex g2o.tex
 This is pdfTeX, Version 3.141592653-2.6-1.40.28 (TeX Live 2025/Debian) (preloaded format=pdflatex)
@@ -10712,7 +10748,7 @@
 onts/type1/public/amsfonts/cm/cmtt10.pfb></usr/share/texlive/texmf-dist/fonts/t
 ype1/public/amsfonts/cm/cmtt12.pfb></usr/share/texlive/texmf-dist/fonts/type1/p
 ublic/amsfonts/symbols/msam10.pfb>
-Output written on g2o.pdf (19 pages, 621166 bytes).
+Output written on g2o.pdf (19 pages, 621099 bytes).
 Transcript written on g2o.log.
 make[2]: Leaving directory '/build/reproducible-path/g2o-0~20230806/doc'
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 Fontconfig error: No writable cache directories
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  for graph 2161/3086
 Running dot for graph 2162/3086
 Running dot for graph 2163/3086
@@ -18508,6 +18548,20 @@
 Fontconfig error: No writable cache directories
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  for graph 2289/3086
 Running dot for graph 2290/3086
 Running dot for graph 2291/3086
@@ -18651,28 +18705,6 @@
 Fontconfig error: No writable cache directories
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@@ -18937,6 +18969,11 @@
 Fontconfig error: No writable cache directories
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  for graph 2545/3086
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@@ -19436,11 +19473,6 @@
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@@ -19703,6 +19735,9 @@
 Fontconfig error: No writable cache directories
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@@ -21809,7 +21845,7 @@
 1: [       OK ] General.RobustKernelFactory (0 ms)
 1: [ RUN      ] General.SparseBlockMatrix
 1: [       OK ] General.SparseBlockMatrix (0 ms)
-1: [----------] 12 tests from General (0 ms total)
+1: [----------] 12 tests from General (1 ms total)
 1: 
 1: [----------] 18 tests from GeneralGraphOperations
 1: [ RUN      ] GeneralGraphOperations.SavingGraph
@@ -21949,7 +21985,7 @@
 1: [----------] 3 tests from General/RobustKernelTests/8 (0 ms total)
 1: 
 1: [----------] Global test environment tear-down
-1: [==========] 68 tests from 14 test suites ran. (1 ms total)
+1: [==========] 68 tests from 14 test suites ran. (3 ms total)
 1: [  PASSED  ] 68 tests.
 2: Running main() from ./googletest/src/gtest_main.cc
 2: [==========] Running 2 tests from 1 test suite.
@@ -22156,36 +22192,6 @@
 7: 
 7: [----------] 6 tests from Slam3D
 7: [ RUN      ] Slam3D.EdgeSE3Jacobian
-9: Running main() from ./googletest/src/gtest_main.cc
-9: [==========] Running 6 tests from 2 test suites.
-9: [----------] Global test environment set-up.
-9: [----------] 2 tests from Sim3
-9: [ RUN      ] Sim3.VertexSE3ExpmapCtor
-9: [       OK ] Sim3.VertexSE3ExpmapCtor (0 ms)
-9: [ RUN      ] Sim3.EdgeSim3Jacobian
-9: [       OK ] Sim3.EdgeSim3Jacobian (0 ms)
-9: [----------] 2 tests from Sim3 (0 ms total)
-9: 
-9: [----------] 4 tests from IoSim3
-9: [ RUN      ] IoSim3.ReadWriteVertexSim3Expmap
-9: [       OK ] IoSim3.ReadWriteVertexSim3Expmap (0 ms)
-9: [ RUN      ] IoSim3.ReadWriteEdgeSim3
-9: [       OK ] IoSim3.ReadWriteEdgeSim3 (0 ms)
-9: [ RUN      ] IoSim3.ReadWriteEdgeSim3ProjectXYZ
-9: [       OK ] IoSim3.ReadWriteEdgeSim3ProjectXYZ (0 ms)
-9: [ RUN      ] IoSim3.ReadWriteEdgeInverseSim3ProjectXYZ
-9: [       OK ] IoSim3.ReadWriteEdgeInverseSim3ProjectXYZ (0 ms)
-9: [----------] 4 tests from IoSim3 (0 ms total)
-9: 
-9: [----------] Global test environment tear-down
-9: [==========] 6 tests from 2 test suites ran. (0 ms total)
-9: [  PASSED  ] 6 tests.
- 1/11 Test  #1: unittest_general .................   Passed    0.05 sec
- 2/11 Test  #2: unittest_data ....................   Passed    0.06 sec
- 3/11 Test  #3: unittest_stuff ...................   Passed    0.05 sec
- 4/11 Test  #4: unittest_sclam2d .................   Passed    0.05 sec
- 5/11 Test  #6: unittest_slam2d_addons ...........   Passed    0.04 sec
- 6/11 Test  #9: unittest_sim3 ....................   Passed    0.03 sec
 8: Running main() from ./googletest/src/gtest_main.cc
 8: [==========] Running 6 tests from 2 test suites.
 8: [----------] Global test environment set-up.
@@ -22210,7 +22216,37 @@
 8: [----------] Global test environment tear-down
 8: [==========] 6 tests from 2 test suites ran. (0 ms total)
 8: [  PASSED  ] 6 tests.
- 7/11 Test  #8: unittest_slam3d_addons ...........   Passed    0.03 sec
+9: Running main() from ./googletest/src/gtest_main.cc
+9: [==========] Running 6 tests from 2 test suites.
+9: [----------] Global test environment set-up.
+9: [----------] 2 tests from Sim3
+9: [ RUN      ] Sim3.VertexSE3ExpmapCtor
+9: [       OK ] Sim3.VertexSE3ExpmapCtor (0 ms)
+9: [ RUN      ] Sim3.EdgeSim3Jacobian
+9: [       OK ] Sim3.EdgeSim3Jacobian (0 ms)
+9: [----------] 2 tests from Sim3 (0 ms total)
+9: 
+9: [----------] 4 tests from IoSim3
+9: [ RUN      ] IoSim3.ReadWriteVertexSim3Expmap
+9: [       OK ] IoSim3.ReadWriteVertexSim3Expmap (0 ms)
+9: [ RUN      ] IoSim3.ReadWriteEdgeSim3
+9: [       OK ] IoSim3.ReadWriteEdgeSim3 (0 ms)
+9: [ RUN      ] IoSim3.ReadWriteEdgeSim3ProjectXYZ
+9: [       OK ] IoSim3.ReadWriteEdgeSim3ProjectXYZ (0 ms)
+9: [ RUN      ] IoSim3.ReadWriteEdgeInverseSim3ProjectXYZ
+9: [       OK ] IoSim3.ReadWriteEdgeInverseSim3ProjectXYZ (0 ms)
+9: [----------] 4 tests from IoSim3 (0 ms total)
+9: 
+9: [----------] Global test environment tear-down
+9: [==========] 6 tests from 2 test suites ran. (0 ms total)
+9: [  PASSED  ] 6 tests.
+ 1/11 Test  #1: unittest_general .................   Passed    0.03 sec
+ 2/11 Test  #2: unittest_data ....................   Passed    0.03 sec
+ 3/11 Test  #3: unittest_stuff ...................   Passed    0.03 sec
+ 4/11 Test  #4: unittest_sclam2d .................   Passed    0.03 sec
+ 5/11 Test  #6: unittest_slam2d_addons ...........   Passed    0.02 sec
+ 6/11 Test  #8: unittest_slam3d_addons ...........   Passed    0.01 sec
+ 7/11 Test  #9: unittest_sim3 ....................   Passed    0.01 sec
 10: Running main() from ./googletest/src/gtest_main.cc
 10: [==========] Running 15 tests from 3 test suites.
 10: [----------] Global test environment set-up.
@@ -22256,12 +22292,7 @@
 10: [----------] Global test environment tear-down
 10: [==========] 15 tests from 3 test suites ran. (0 ms total)
 10: [  PASSED  ] 15 tests.
- 8/11 Test #10: unittest_sba .....................   Passed    0.03 sec
-5: [       OK ] Slam2D.EdgeSE2Jacobian (48 ms)
-5: [ RUN      ] Slam2D.EdgeSE2PriorJacobian
-5: [       OK ] Slam2D.EdgeSE2PriorJacobian (8 ms)
-5: [ RUN      ] Slam2D.EdgePointXYJacobian
-5: [       OK ] Slam2D.EdgePointXYJacobian (7 ms)
+ 8/11 Test #10: unittest_sba .....................   Passed    0.01 sec
 11: Running main() from ./googletest/src/gtest_main.cc
 11: [==========] Running 26 tests from 8 test suites.
 11: [----------] Global test environment set-up.
@@ -22269,53 +22300,58 @@
 11: [ RUN      ] AlgorithmFactory.ContainsBasicSolvers
 11: [       OK ] AlgorithmFactory.ContainsBasicSolvers (0 ms)
 11: [ RUN      ] AlgorithmFactory.AllocatingSolver
-11: [       OK ] AlgorithmFactory.AllocatingSolver (1 ms)
-5: [ RUN      ] Slam2D.EdgeSE2PointXYJacobian
+11: [       OK ] AlgorithmFactory.AllocatingSolver (0 ms)
 11: [ RUN      ] AlgorithmFactory.AllocatingInvalidReturnsNull
 11: [       OK ] AlgorithmFactory.AllocatingInvalidReturnsNull (0 ms)
 11: [ RUN      ] AlgorithmFactory.PrintSolverProperties
 11: [       OK ] AlgorithmFactory.PrintSolverProperties (0 ms)
 11: [ RUN      ] AlgorithmFactory.ListsAllSolvers
 11: [       OK ] AlgorithmFactory.ListsAllSolvers (0 ms)
-11: [----------] 5 tests from AlgorithmFactory (2 ms total)
+11: [----------] 5 tests from AlgorithmFactory (1 ms total)
 11: 
 11: [----------] 3 tests from LinearSolver/LS/0, where TypeParam = std::pair<g2o::LinearSolverCSparse<Eigen::Matrix<double,-1,-1,0,-1,-1> >,(anonymous namespace)::NoBlockOrdering>
 11: [ RUN      ] LinearSolver/LS/0.Solve
-11: [       OK ] LinearSolver/LS/0.Solve (5 ms)
+5: [       OK ] Slam2D.EdgeSE2Jacobian (42 ms)
+5: [ RUN      ] Slam2D.EdgeSE2PriorJacobian
+11: [       OK ] LinearSolver/LS/0.Solve (10 ms)
 11: [ RUN      ] LinearSolver/LS/0.SolvePattern
-11: [       OK ] LinearSolver/LS/0.SolvePattern (0 ms)
+5: [       OK ] Slam2D.EdgeSE2PriorJacobian (12 ms)
+5: [ RUN      ] Slam2D.EdgePointXYJacobian
+11: [       OK ] LinearSolver/LS/0.SolvePattern (8 ms)
 11: [ RUN      ] LinearSolver/LS/0.SolveBlocks
-11: [       OK ] LinearSolver/LS/0.SolveBlocks (0 ms)
-11: [----------] 3 tests from LinearSolver/LS/0 (6 ms total)
+11: [       OK ] LinearSolver/LS/0.SolveBlocks (4 ms)
+11: [----------] 3 tests from LinearSolver/LS/0 (23 ms total)
 11: 
 11: [----------] 3 tests from LinearSolver/LS/1, where TypeParam = std::pair<g2o::LinearSolverCSparse<Eigen::Matrix<double,-1,-1,0,-1,-1> >,(anonymous namespace)::BlockOrdering>
 11: [ RUN      ] LinearSolver/LS/1.Solve
-11: [       OK ] LinearSolver/LS/1.Solve (0 ms)
+5: [       OK ] Slam2D.EdgePointXYJacobian (6 ms)
+5: [ RUN      ] Slam2D.EdgeSE2PointXYJacobian
+11: [       OK ] LinearSolver/LS/1.Solve (4 ms)
 11: [ RUN      ] LinearSolver/LS/1.SolvePattern
-11: [       OK ] LinearSolver/LS/1.SolvePattern (0 ms)
+11: [       OK ] LinearSolver/LS/1.SolvePattern (1 ms)
 11: [ RUN      ] LinearSolver/LS/1.SolveBlocks
-11: [       OK ] LinearSolver/LS/1.SolveBlocks (0 ms)
-11: [----------] 3 tests from LinearSolver/LS/1 (1 ms total)
+11: [       OK ] LinearSolver/LS/1.SolveBlocks (1 ms)
+11: [----------] 3 tests from LinearSolver/LS/1 (7 ms total)
 11: 
 11: [----------] 3 tests from LinearSolver/LS/2, where TypeParam = std::pair<g2o::LinearSolverCholmod<Eigen::Matrix<double,-1,-1,0,-1,-1> >,(anonymous namespace)::NoBlockOrdering>
 11: [ RUN      ] LinearSolver/LS/2.Solve
-5: [       OK ] Slam2D.EdgeSE2PointXYJacobian (16 ms)
+5: [       OK ] Slam2D.EdgeSE2PointXYJacobian (15 ms)
 5: [ RUN      ] Slam2D.EdgeSE2PointXYBearingJacobian
-11: [       OK ] LinearSolver/LS/2.Solve (8 ms)
+11: [       OK ] LinearSolver/LS/2.Solve (11 ms)
 11: [ RUN      ] LinearSolver/LS/2.SolvePattern
-11: [       OK ] LinearSolver/LS/2.SolvePattern (0 ms)
+11: [       OK ] LinearSolver/LS/2.SolvePattern (1 ms)
 11: [ RUN      ] LinearSolver/LS/2.SolveBlocks
-11: [       OK ] LinearSolver/LS/2.SolveBlocks (0 ms)
-11: [----------] 3 tests from LinearSolver/LS/2 (15 ms total)
+11: [       OK ] LinearSolver/LS/2.SolveBlocks (1 ms)
+11: [----------] 3 tests from LinearSolver/LS/2 (14 ms total)
 11: 
 11: [----------] 3 tests from LinearSolver/LS/3, where TypeParam = std::pair<g2o::LinearSolverCholmod<Eigen::Matrix<double,-1,-1,0,-1,-1> >,(anonymous namespace)::BlockOrdering>
 11: [ RUN      ] LinearSolver/LS/3.Solve
-11: [       OK ] LinearSolver/LS/3.Solve (0 ms)
+11: [       OK ] LinearSolver/LS/3.Solve (1 ms)
 11: [ RUN      ] LinearSolver/LS/3.SolvePattern
-11: [       OK ] LinearSolver/LS/3.SolvePattern (0 ms)
+11: [       OK ] LinearSolver/LS/3.SolvePattern (1 ms)
 11: [ RUN      ] LinearSolver/LS/3.SolveBlocks
-11: [       OK ] LinearSolver/LS/3.SolveBlocks (0 ms)
-11: [----------] 3 tests from LinearSolver/LS/3 (1 ms total)
+11: [       OK ] LinearSolver/LS/3.SolveBlocks (14 ms)
+11: [----------] 3 tests from LinearSolver/LS/3 (16 ms total)
 11: 
 11: [----------] 3 tests from LinearSolver/LS/4, where TypeParam = std::pair<g2o::LinearSolverEigen<Eigen::Matrix<double,-1,-1,0,-1,-1> >,(anonymous namespace)::NoBlockOrdering>
 11: [ RUN      ] LinearSolver/LS/4.Solve
@@ -22324,36 +22360,16 @@
 11: [       OK ] LinearSolver/LS/4.SolvePattern (0 ms)
 11: [ RUN      ] LinearSolver/LS/4.SolveBlocks
 11: [       OK ] LinearSolver/LS/4.SolveBlocks (0 ms)
-11: [----------] 3 tests from LinearSolver/LS/4 (1 ms total)
+11: [----------] 3 tests from LinearSolver/LS/4 (2 ms total)
 11: 
 11: [----------] 3 tests from LinearSolver/LS/5, where TypeParam = std::pair<g2o::LinearSolverEigen<Eigen::Matrix<double,-1,-1,0,-1,-1> >,(anonymous namespace)::BlockOrdering>
 11: [ RUN      ] LinearSolver/LS/5.Solve
-11: [       OK ] LinearSolver/LS/5.Solve (0 ms)
-11: [ RUN      ] LinearSolver/LS/5.SolvePattern
-11: [       OK ] LinearSolver/LS/5.SolvePattern (0 ms)
-11: [ RUN      ] LinearSolver/LS/5.SolveBlocks
-11: [       OK ] LinearSolver/LS/5.SolveBlocks (0 ms)
-11: [----------] 3 tests from LinearSolver/LS/5 (1 ms total)
-11: 
-11: [----------] 3 tests from LinearSolver/LS/6, where TypeParam = std::pair<g2o::LinearSolverDense<Eigen::Matrix<double,-1,-1,0,-1,-1> >,(anonymous namespace)::NoooOrdering>
-11: [ RUN      ] LinearSolver/LS/6.Solve
-11: [       OK ] LinearSolver/LS/6.Solve (0 ms)
-11: [ RUN      ] LinearSolver/LS/6.SolvePattern
-11: Solver does not support solvePattern()
-11: [       OK ] LinearSolver/LS/6.SolvePattern (0 ms)
-11: [ RUN      ] LinearSolver/LS/6.SolveBlocks
-11: Solver does not support solveBlocks()
-11: [       OK ] LinearSolver/LS/6.SolveBlocks (0 ms)
-11: [----------] 3 tests from LinearSolver/LS/6 (7 ms total)
-11: 
-11: [----------] Global test environment tear-down
-11: [==========] 26 tests from 8 test suites ran. (38 ms total)
-11: [  PASSED  ] 26 tests.
- 9/11 Test #11: unittest_solver ..................   Passed    0.10 sec
-5: [       OK ] Slam2D.EdgeSE2PointXYBearingJacobian (40 ms)
-5: [----------] 5 tests from Slam2D (125 ms total)
+5: [       OK ] Slam2D.EdgeSE2PointXYBearingJacobian (28 ms)
+5: [----------] 5 tests from Slam2D (107 ms total)
 5: 
 5: [----------] 7 tests from IoSlam2d
+11: [       OK ] LinearSolver/LS/5.Solve (0 ms)
+11: [ RUN      ] LinearSolver/LS/5.SolvePattern
 5: [ RUN      ] IoSlam2d.ReadWriteVertexSE2
 5: [       OK ] IoSlam2d.ReadWriteVertexSE2 (0 ms)
 5: [ RUN      ] IoSlam2d.ReadWriteVertexPointXY
@@ -22371,21 +22387,41 @@
 5: [----------] 7 tests from IoSlam2d (0 ms total)
 5: 
 5: [----------] Global test environment tear-down
-5: [==========] 13 tests from 3 test suites ran. (125 ms total)
+5: [==========] 13 tests from 3 test suites ran. (107 ms total)
 5: [  PASSED  ] 13 tests.
-10/11 Test  #5: unittest_slam2d ..................   Passed    0.13 sec
-7: [       OK ] Slam3D.EdgeSE3Jacobian (113 ms)
+11: [       OK ] LinearSolver/LS/5.SolvePattern (0 ms)
+11: [ RUN      ] LinearSolver/LS/5.SolveBlocks
+ 9/11 Test  #5: unittest_slam2d ..................   Passed    0.12 sec
+11: [       OK ] LinearSolver/LS/5.SolveBlocks (0 ms)
+11: [----------] 3 tests from LinearSolver/LS/5 (4 ms total)
+11: 
+11: [----------] 3 tests from LinearSolver/LS/6, where TypeParam = std::pair<g2o::LinearSolverDense<Eigen::Matrix<double,-1,-1,0,-1,-1> >,(anonymous namespace)::NoooOrdering>
+11: [ RUN      ] LinearSolver/LS/6.Solve
+11: [       OK ] LinearSolver/LS/6.Solve (0 ms)
+11: [ RUN      ] LinearSolver/LS/6.SolvePattern
+11: Solver does not support solvePattern()
+11: [       OK ] LinearSolver/LS/6.SolvePattern (2 ms)
+11: [ RUN      ] LinearSolver/LS/6.SolveBlocks
+11: Solver does not support solveBlocks()
+11: [       OK ] LinearSolver/LS/6.SolveBlocks (0 ms)
+11: [----------] 3 tests from LinearSolver/LS/6 (3 ms total)
+11: 
+11: [----------] Global test environment tear-down
+11: [==========] 26 tests from 8 test suites ran. (80 ms total)
+11: [  PASSED  ] 26 tests.
+10/11 Test #11: unittest_solver ..................   Passed    0.11 sec
+7: [       OK ] Slam3D.EdgeSE3Jacobian (115 ms)
 7: [ RUN      ] Slam3D.EdgeSE3XYZPriorJacobian
-7: [       OK ] Slam3D.EdgeSE3XYZPriorJacobian (12 ms)
+7: [       OK ] Slam3D.EdgeSE3XYZPriorJacobian (14 ms)
 7: [ RUN      ] Slam3D.EdgeSE3PointXYZJacobian
-7: [       OK ] Slam3D.EdgeSE3PointXYZJacobian (38 ms)
+7: [       OK ] Slam3D.EdgeSE3PointXYZJacobian (39 ms)
 7: [ RUN      ] Slam3D.EdgePointXYZJacobian
 7: [       OK ] Slam3D.EdgePointXYZJacobian (5 ms)
 7: [ RUN      ] Slam3D.dqDRJacobian
 7: [       OK ] Slam3D.dqDRJacobian (3 ms)
 7: [ RUN      ] Slam3D.OrthogonalMatrix
 7: [       OK ] Slam3D.OrthogonalMatrix (0 ms)
-7: [----------] 6 tests from Slam3D (174 ms total)
+7: [----------] 6 tests from Slam3D (178 ms total)
 7: 
 7: [----------] 5 tests from MappingsSlam3D
 7: [ RUN      ] MappingsSlam3D.EulerConversion
@@ -22422,13 +22458,13 @@
 7: [----------] 2 tests from Slam3D/Slam3DOptimization/2 (0 ms total)
 7: 
 7: [----------] Global test environment tear-down
-7: [==========] 31 tests from 7 test suites ran. (175 ms total)
+7: [==========] 31 tests from 7 test suites ran. (179 ms total)
 7: [  PASSED  ] 31 tests.
 11/11 Test  #7: unittest_slam3d ..................   Passed    0.19 sec
 
 100% tests passed, 0 tests failed out of 11
 
-Total Test time (real) =   0.23 sec
+Total Test time (real) =   0.21 sec
 make[2]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[1]: Leaving directory '/build/reproducible-path/g2o-0~20230806'
    debian/rules override_dh_auto_test-indep
@@ -22452,23 +22488,23 @@
 make  -f g2o/stuff/CMakeFiles/opengl_helper.dir/build.make g2o/stuff/CMakeFiles/opengl_helper.dir/depend
 make  -f g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/build.make g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff/CMakeFiles/stuff.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff/CMakeFiles/opengl_helper.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/EXTERNAL/freeglut" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/EXTERNAL/freeglut" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/DependInfo.cmake" "--color="
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/stuff/CMakeFiles/stuff.dir/DependInfo.cmake" "--color="
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/stuff/CMakeFiles/opengl_helper.dir/build.make g2o/stuff/CMakeFiles/opengl_helper.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'g2o/stuff/CMakeFiles/opengl_helper.dir/build'.
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/build.make g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'g2o/stuff/CMakeFiles/opengl_helper.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/stuff/CMakeFiles/stuff.dir/build.make g2o/stuff/CMakeFiles/stuff.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Nothing to be done for 'g2o/EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/stuff/CMakeFiles/stuff.dir/build.make g2o/stuff/CMakeFiles/stuff.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Nothing to be done for 'g2o/stuff/CMakeFiles/stuff.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
@@ -22477,13 +22513,13 @@
 [  6%] Built target stuff
 make  -f g2o/core/CMakeFiles/core.dir/build.make g2o/core/CMakeFiles/core.dir/depend
 make  -f unit_test/stuff/CMakeFiles/unittest_stuff.dir/build.make unit_test/stuff/CMakeFiles/unittest_stuff.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/core" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core/CMakeFiles/core.dir/DependInfo.cmake" "--color="
 make  -f g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/build.make g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/stuff/CMakeFiles/unittest_stuff.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/core" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/core/CMakeFiles/core.dir/DependInfo.cmake" "--color="
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/build.make g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
@@ -22504,281 +22540,281 @@
 [ 21%] Built target core
 make  -f g2o/types/slam3d/CMakeFiles/types_slam3d.dir/build.make g2o/types/slam3d/CMakeFiles/types_slam3d.dir/depend
 make  -f g2o/types/slam2d/CMakeFiles/types_slam2d.dir/build.make g2o/types/slam2d/CMakeFiles/types_slam2d.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d/CMakeFiles/types_slam3d.dir/DependInfo.cmake" "--color="
 make  -f g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/build.make g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/depend
+make  -f g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/build.make g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/depend
+make  -f g2o/solvers/dense/CMakeFiles/solver_dense.dir/build.make g2o/solvers/dense/CMakeFiles/solver_dense.dir/depend
+make  -f g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/build.make g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/depend
+make  -f g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/build.make g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d/CMakeFiles/types_slam2d.dir/DependInfo.cmake" "--color="
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d/CMakeFiles/types_slam3d.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/eigen" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/DependInfo.cmake" "--color="
-make  -f g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/build.make g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/depend
-make  -f g2o/solvers/dense/CMakeFiles/solver_dense.dir/build.make g2o/solvers/dense/CMakeFiles/solver_dense.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/build.make g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/depend
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d/CMakeFiles/types_slam2d.dir/DependInfo.cmake" "--color="
+make  -f g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/build.make g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/pcg" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/DependInfo.cmake" "--color="
+make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/dense" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/dense" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/dense/CMakeFiles/solver_dense.dir/DependInfo.cmake" "--color="
-make  -f g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/build.make g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/depend
-make  -f g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/build.make g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
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 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/structure_only" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/structure_only" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/csparse" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/DependInfo.cmake" "--color="
-make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/cholmod" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/DependInfo.cmake" "--color="
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+make  -f g2o/solvers/dense/CMakeFiles/solver_dense.dir/build.make g2o/solvers/dense/CMakeFiles/solver_dense.dir/build
+make  -f g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/build.make g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/build
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-make  -f g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/build.make g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/build
+make  -f g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/build.make g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/build
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
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+make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/build
+make  -f g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/build.make g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/build
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-make[4]: Nothing to be done for 'g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/build'.
+make[4]: Nothing to be done for 'g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
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-make[4]: Nothing to be done for 'g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/build'.
+make[4]: Nothing to be done for 'g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/build'.
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+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/build'.
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-make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Nothing to be done for 'g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'g2o/solvers/csparse/CMakeFiles/solver_csparse.dir/build'.
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Nothing to be done for 'g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 22%] Built target solver_csparse
+[ 23%] Built target solver_pcg
+[ 24%] Built target solver_dense
+[ 25%] Built target solver_structure_only
+[ 27%] Built target solver_eigen
+[ 27%] Built target solver_cholmod
+[ 29%] Built target g2o_cli_library
+make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/depend
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_cli" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/DependInfo.cmake" "--color="
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/types/slam2d/CMakeFiles/types_slam2d.dir/build.make g2o/types/slam2d/CMakeFiles/types_slam2d.dir/build
-[ 22%] Built target solver_eigen
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/types/slam3d/CMakeFiles/types_slam3d.dir/build.make g2o/types/slam3d/CMakeFiles/types_slam3d.dir/build
-[ 23%] Built target solver_dense
-[ 24%] Built target solver_pcg
-[ 25%] Built target solver_structure_only
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 26%] Built target solver_csparse
-[ 27%] Built target solver_cholmod
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'g2o/types/slam3d/CMakeFiles/types_slam3d.dir/build'.
 make[4]: Nothing to be done for 'g2o/types/slam2d/CMakeFiles/types_slam2d.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 29%] Built target g2o_cli_library
-make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/depend
+make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_cli" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/DependInfo.cmake" "--color="
+make[4]: Nothing to be done for 'g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build'.
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'g2o/types/slam3d/CMakeFiles/types_slam3d.dir/build'.
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 [ 36%] Built target types_slam2d
-[ 45%] Built target types_slam3d
-make  -f unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build.make unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/depend
-make  -f g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build.make g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/depend
-make  -f g2o/types/sba/CMakeFiles/types_sba.dir/build.make g2o/types/sba/CMakeFiles/types_sba.dir/depend
+make  -f g2o/types/data/CMakeFiles/types_data.dir/build.make g2o/types/data/CMakeFiles/types_data.dir/depend
+make  -f g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build.make g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/depend
+make  -f unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build.make unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/depend
+make  -f g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/build.make g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/depend
 make  -f g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/build.make g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/DependInfo.cmake" "--color="
-make  -f unit_test/general/CMakeFiles/unittest_general.dir/build.make unit_test/general/CMakeFiles/unittest_general.dir/depend
-make  -f g2o/types/data/CMakeFiles/types_data.dir/build.make g2o/types/data/CMakeFiles/types_data.dir/depend
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data/CMakeFiles/types_data.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/general" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general/CMakeFiles/unittest_general.dir/DependInfo.cmake" "--color="
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/DependInfo.cmake" "--color="
-make  -f g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build.make g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/data/CMakeFiles/types_data.dir/DependInfo.cmake" "--color="
-make  -f unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build.make unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/depend
+[ 37%] Built target g2o_cli_application
+[ 46%] Built target types_slam3d
+make  -f unit_test/general/CMakeFiles/unittest_general.dir/build.make unit_test/general/CMakeFiles/unittest_general.dir/depend
+make  -f unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build.make unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/depend
+make  -f g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build.make g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/depend
+make  -f g2o/types/sba/CMakeFiles/types_sba.dir/build.make g2o/types/sba/CMakeFiles/types_sba.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/DependInfo.cmake" "--color="
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba/CMakeFiles/types_sba.dir/DependInfo.cmake" "--color="
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/DependInfo.cmake" "--color="
-make  -f g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/build.make g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/depend
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/general" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/general/CMakeFiles/unittest_general.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/DependInfo.cmake" "--color="
-make  -f g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build.make g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/DependInfo.cmake" "--color="
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/build'.
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sba/CMakeFiles/types_sba.dir/DependInfo.cmake" "--color="
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/build.make g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/build
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build.make unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build
-[ 46%] Built target g2o_cli_application
+make  -f unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build.make unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Nothing to be done for 'g2o/solvers/slam2d_linear/CMakeFiles/solver_slam2d_linear.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build.make g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/types/data/CMakeFiles/types_data.dir/build.make g2o/types/data/CMakeFiles/types_data.dir/build
-make  -f g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build.make g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f unit_test/general/CMakeFiles/unittest_general.dir/build.make unit_test/general/CMakeFiles/unittest_general.dir/build
-make  -f unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build.make unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build
-make[4]: Nothing to be done for 'unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build'.
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build.make g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'g2o/types/data/CMakeFiles/types_data.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Nothing to be done for 'g2o/types/sclam2d/CMakeFiles/types_sclam2d.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'unit_test/slam2d/CMakeFiles/unittest_slam2d.dir/build'.
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/build.make g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'unit_test/general/CMakeFiles/unittest_general.dir/build'.
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 [ 47%] Built target solver_slam2d_linear
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'g2o/types/data/CMakeFiles/types_data.dir/build'.
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f unit_test/solver/CMakeFiles/unittest_solver.dir/build.make unit_test/solver/CMakeFiles/unittest_solver.dir/depend
+[ 49%] Built target unittest_slam2d
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build'.
+make[4]: Nothing to be done for 'unit_test/general/CMakeFiles/unittest_general.dir/build'.
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/solver" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/solver/CMakeFiles/unittest_solver.dir/DependInfo.cmake" "--color="
+make  -f unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build.make unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Nothing to be done for 'g2o/types/slam2d_addons/CMakeFiles/types_slam2d_addons.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/types/sba/CMakeFiles/types_sba.dir/build.make g2o/types/sba/CMakeFiles/types_sba.dir/build
-[ 50%] Built target unittest_slam3d
-[ 52%] Built target types_sclam2d
+[ 51%] Built target types_sclam2d
 make  -f unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build.make unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/depend
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build.make g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/DependInfo.cmake" "--color="
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'g2o/types/sba/CMakeFiles/types_sba.dir/build'.
+make[4]: Nothing to be done for 'unit_test/slam3d/CMakeFiles/unittest_slam3d.dir/build'.
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+[ 55%] Built target unittest_general
+[ 59%] Built target types_data
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 56%] Built target types_slam2d_addons
+[ 63%] Built target types_slam2d_addons
+make  -f unit_test/data/CMakeFiles/unittest_data.dir/build.make unit_test/data/CMakeFiles/unittest_data.dir/depend
 make  -f unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/build.make unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data/CMakeFiles/unittest_data.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/DependInfo.cmake" "--color="
-[ 65%] Built target types_slam3d_addons
-[ 67%] Built target unittest_slam2d
-[ 60%] Built target unittest_general
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/types/sba/CMakeFiles/types_sba.dir/build.make g2o/types/sba/CMakeFiles/types_sba.dir/build
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f unit_test/solver/CMakeFiles/unittest_solver.dir/build.make unit_test/solver/CMakeFiles/unittest_solver.dir/build
-[ 71%] Built target types_data
+[ 66%] Built target unittest_slam3d
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'unit_test/solver/CMakeFiles/unittest_solver.dir/build'.
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build.make unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build
+[ 71%] Built target types_slam3d_addons
 make  -f unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/build.make unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/depend
-[ 80%] Built target types_sba
 make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/depend
-make  -f unit_test/data/CMakeFiles/unittest_data.dir/build.make unit_test/data/CMakeFiles/unittest_data.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d_addons" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/DependInfo.cmake" "--color="
-make  -f g2o/types/sim3/CMakeFiles/types_sim3.dir/build.make g2o/types/sim3/CMakeFiles/types_sim3.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/DependInfo.cmake" "--color="
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'unit_test/solver/CMakeFiles/unittest_solver.dir/build'.
+make[4]: Nothing to be done for 'g2o/types/sba/CMakeFiles/types_sba.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/data/CMakeFiles/unittest_data.dir/DependInfo.cmake" "--color="
-make  -f unit_test/sba/CMakeFiles/unittest_sba.dir/build.make unit_test/sba/CMakeFiles/unittest_sba.dir/depend
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba/CMakeFiles/unittest_sba.dir/DependInfo.cmake" "--color="
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3/CMakeFiles/types_sim3.dir/DependInfo.cmake" "--color="
-make  -f g2o/types/icp/CMakeFiles/types_icp.dir/build.make g2o/types/icp/CMakeFiles/types_icp.dir/depend
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/icp" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp/CMakeFiles/types_icp.dir/DependInfo.cmake" "--color="
-make  -f unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build.make unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/DependInfo.cmake" "--color="
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/build.make unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/build
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/data/CMakeFiles/unittest_data.dir/build.make unit_test/data/CMakeFiles/unittest_data.dir/build
+[ 73%] Built target unittest_solver
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Nothing to be done for 'unit_test/slam2d_addons/CMakeFiles/unittest_slam2d_addons.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'unit_test/sclam2d/CMakeFiles/unittest_sclam2d.dir/build'.
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 82%] Built target unittest_solver
-make  -f g2o/types/sim3/CMakeFiles/types_sim3.dir/build.make g2o/types/sim3/CMakeFiles/types_sim3.dir/build
+make[4]: Nothing to be done for 'unit_test/data/CMakeFiles/unittest_data.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/build.make unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/build
+[ 82%] Built target types_sba
+make  -f g2o/types/sim3/CMakeFiles/types_sim3.dir/build.make g2o/types/sim3/CMakeFiles/types_sim3.dir/depend
+make  -f unit_test/sba/CMakeFiles/unittest_sba.dir/build.make unit_test/sba/CMakeFiles/unittest_sba.dir/depend
+make  -f g2o/types/icp/CMakeFiles/types_icp.dir/build.make g2o/types/icp/CMakeFiles/types_icp.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'g2o/types/sim3/CMakeFiles/types_sim3.dir/build'.
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/sim3/CMakeFiles/types_sim3.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sba/CMakeFiles/unittest_sba.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/types/icp" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/types/icp/CMakeFiles/types_icp.dir/DependInfo.cmake" "--color="
+[ 83%] Built target unittest_sclam2d
+[ 83%] Built target unittest_slam2d_addons
+[ 84%] Built target unittest_data
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/build.make unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Nothing to be done for 'unit_test/slam3d_addons/CMakeFiles/unittest_slam3d_addons.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/data/CMakeFiles/unittest_data.dir/build.make unit_test/data/CMakeFiles/unittest_data.dir/build
+make  -f g2o/types/sim3/CMakeFiles/types_sim3.dir/build.make g2o/types/sim3/CMakeFiles/types_sim3.dir/build
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/types/icp/CMakeFiles/types_icp.dir/build.make g2o/types/icp/CMakeFiles/types_icp.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f unit_test/sba/CMakeFiles/unittest_sba.dir/build.make unit_test/sba/CMakeFiles/unittest_sba.dir/build
-[ 82%] Built target unittest_slam2d_addons
-[ 83%] Built target unittest_sclam2d
-[ 84%] Built target types_sim3
-make[4]: Nothing to be done for 'g2o/types/icp/CMakeFiles/types_icp.dir/build'.
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/sim3/CMakeFiles/unittest_sim3.dir/build.make unit_test/sim3/CMakeFiles/unittest_sim3.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'unit_test/sba/CMakeFiles/unittest_sba.dir/build'.
+make[4]: Nothing to be done for 'g2o/types/sim3/CMakeFiles/types_sim3.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3/CMakeFiles/unittest_sim3.dir/DependInfo.cmake" "--color="
+make[4]: Nothing to be done for 'g2o/types/icp/CMakeFiles/types_icp.dir/build'.
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 [ 85%] Built target unittest_slam3d_addons
-make[4]: Nothing to be done for 'unit_test/data/CMakeFiles/unittest_data.dir/build'.
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'unit_test/sba/CMakeFiles/unittest_sba.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/build
 [ 86%] Built target types_icp
-[ 87%] Built target unittest_sba
-[ 88%] Built target unittest_data
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f unit_test/sim3/CMakeFiles/unittest_sim3.dir/build.make unit_test/sim3/CMakeFiles/unittest_sim3.dir/build
+[ 87%] Built target types_sim3
+make  -f unit_test/sim3/CMakeFiles/unittest_sim3.dir/build.make unit_test/sim3/CMakeFiles/unittest_sim3.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'unit_test/sim3/CMakeFiles/unittest_sim3.dir/build'.
-make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/unit_test/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/unit_test/sim3/CMakeFiles/unittest_sim3.dir/DependInfo.cmake" "--color="
+[ 88%] Built target unittest_sba
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Nothing to be done for 'g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator_library.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-[ 90%] Built target unittest_sim3
-[ 98%] Built target g2o_simulator_library
+[ 96%] Built target g2o_simulator_library
 make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/depend
 make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/depend
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/DependInfo.cmake" "--color="
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 cd "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" && /usr/bin/cmake -E cmake_depends "Unix Makefiles" "/build/reproducible-path/g2o-0~20230806" "/build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator" "/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu/g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/DependInfo.cmake" "--color="
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build
+make  -f unit_test/sim3/CMakeFiles/unittest_sim3.dir/build.make unit_test/sim3/CMakeFiles/unittest_sim3.dir/build
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'unit_test/sim3/CMakeFiles/unittest_sim3.dir/build'.
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/build
-make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
-make[4]: Nothing to be done for 'g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build'.
+[ 98%] Built target unittest_sim3
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make  -f g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build.make g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build
 make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 make[4]: Nothing to be done for 'g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator2d_application.dir/build'.
 make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Entering directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
+make[4]: Nothing to be done for 'g2o/apps/g2o_simulator/CMakeFiles/g2o_simulator3d_application.dir/build'.
+make[4]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
 [ 99%] Built target g2o_simulator3d_application
 [100%] Built target g2o_simulator2d_application
 make[3]: Leaving directory '/build/reproducible-path/g2o-0~20230806/obj-aarch64-linux-gnu'
@@ -23155,10 +23191,10 @@
    dh_gencontrol -O--buildsystem=cmake
    dh_md5sums -O--buildsystem=cmake
    dh_builddeb -O--buildsystem=cmake
-dpkg-deb: building package 'libg2o-doc' in '../libg2o-doc_0~20230806-4.1_all.deb'.
-dpkg-deb: building package 'libg2o-dev' in '../libg2o-dev_0~20230806-4.1_arm64.deb'.
-dpkg-deb: building package 'libg2o0t64' in '../libg2o0t64_0~20230806-4.1_arm64.deb'.
 dpkg-deb: building package 'libg2o0t64-dbgsym' in '../libg2o0t64-dbgsym_0~20230806-4.1_arm64.deb'.
+dpkg-deb: building package 'libg2o0t64' in '../libg2o0t64_0~20230806-4.1_arm64.deb'.
+dpkg-deb: building package 'libg2o-dev' in '../libg2o-dev_0~20230806-4.1_arm64.deb'.
+dpkg-deb: building package 'libg2o-doc' in '../libg2o-doc_0~20230806-4.1_all.deb'.
  dpkg-genbuildinfo --build=binary -O../g2o_0~20230806-4.1_arm64.buildinfo
  dpkg-genchanges --build=binary -O../g2o_0~20230806-4.1_arm64.changes
 dpkg-genchanges: info: binary-only upload (no source code included)
@@ -23166,12 +23202,14 @@
 dpkg-buildpackage: info: binary-only upload (no source included)
 dpkg-genchanges: info: not including original source code in upload
 I: copying local configuration
+I: user script /srv/workspace/pbuilder/2829829/tmp/hooks/B01_cleanup starting
+I: user script /srv/workspace/pbuilder/2829829/tmp/hooks/B01_cleanup finished
 I: unmounting dev/ptmx filesystem
 I: unmounting dev/pts filesystem
 I: unmounting dev/shm filesystem
 I: unmounting proc filesystem
 I: unmounting sys filesystem
 I: cleaning the build env 
-I: removing directory /srv/workspace/pbuilder/1162225 and its subdirectories
-I: Current time: Fri Oct 23 12:59:09 -12 2026
-I: pbuilder-time-stamp: 1792803549
+I: removing directory /srv/workspace/pbuilder/2829829 and its subdirectories
+I: Current time: Sun Sep 21 08:47:38 +14 2025
+I: pbuilder-time-stamp: 1758394058